+ python -m lidar_slam --result /working/result.json --no-model /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 Lidar SLAM 0.0.16 ===================================================== The recording path: /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 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 0.00864 Adjusted end_distance from 9.223372036854776e+18 to 434.03864 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00864 meters Centerline goodness : 0.108797 with order 1 Centerline is valid? [0, False] SLAMing on 0.06863999999999999 meters SLAMing on 0.12863999999999998 meters SLAMing on 0.18863999999999997 meters SLAMing on 0.24863999999999997 meters Centerline goodness : 0.137828 with order 1 Centerline is valid? [False, False] Translation: X:-0.00, Y:0.02, Z:-0.00 [[ 9.99988909e-01 4.53234646e-03 1.28047367e-03 -8.47418097e-04] [-4.53312505e-03 9.99989542e-01 6.05805060e-04 2.06050270e-02] [-1.27771456e-03 -6.11602889e-04 9.99998997e-01 -1.34827967e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3086399999999999 meters Centerline goodness : 0.110459 with order 1 Centerline is valid? [False, False] Translation: X:0.02, Y:0.02, Z:0.00 [[ 9.99991109e-01 -4.21550125e-03 1.09264743e-04 2.19510994e-02] [ 4.21542761e-03 9.99990893e-01 6.65649322e-04 2.35414321e-02] [-1.12069794e-04 -6.65182806e-04 9.99999772e-01 8.18040578e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.3686399999999999 meters Centerline goodness : 0.079643 with order 1 Centerline is valid? [False, False] Translation: X:0.03, Y:0.03, Z:-0.01 [[ 9.99993008e-01 -3.67797251e-03 -6.76225149e-04 3.15486448e-02] [ 3.67820383e-03 9.99993177e-01 3.41158946e-04 2.80124946e-02] [ 6.74965762e-04 -3.43643855e-04 9.99999713e-01 -9.01964014e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4286399999999999 meters Centerline goodness : 0.078364 with order 1 Centerline is valid? [False, False] Translation: X:0.04, Y:0.03, Z:-0.02 [[ 9.99991316e-01 -3.43544887e-03 -2.35928736e-03 4.24284235e-02] [ 3.43553055e-03 9.99994098e-01 3.05689372e-05 3.13055260e-02] [ 2.35916842e-03 -3.86740755e-05 9.99997216e-01 -1.90115386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.4886399999999999 meters Centerline goodness : 0.076659 with order 1 Centerline is valid? [False, False] Translation: X:0.05, Y:0.03, Z:-0.03 [[ 9.99984098e-01 -3.96477433e-03 -4.01062159e-03 5.37344309e-02] [ 3.96414048e-03 9.99992129e-01 -1.65978727e-04 2.97109866e-02] [ 4.01124809e-03 1.50077420e-04 9.99991944e-01 -2.92121103e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5486399999999999 meters SLAMing on 0.6086399999999998 meters Centerline goodness : 0.120948 with order 1 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.03 [[ 9.99919831e-01 -6.11532788e-03 -1.10875681e-02 1.09576078e-01] [ 6.10768368e-03 9.99981086e-01 -7.23168637e-04 2.93945028e-02] [ 1.10917808e-02 6.55391303e-04 9.99938270e-01 -2.92221251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6686399999999999 meters Centerline goodness : 0.118799 with order 1 Centerline is valid? [False, False] Translation: X:0.12, Y:0.02, Z:-0.03 [[ 0.99991727 -0.00505484 -0.01182786 0.1153425 ] [ 0.00506886 0.99998649 0.00115549 0.02347179] [ 0.01182186 -0.00121534 0.99992938 -0.03408835] [ 0. 0. 0. 1. ]] SLAMing on 0.7286399999999998 meters Centerline goodness : 0.157801 with order 2 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.03 [[ 9.99905585e-01 2.56241878e-03 -1.35001985e-02 1.38305546e-01] [-2.55349087e-03 9.99996510e-01 6.78512772e-04 2.01095193e-02] [ 1.35018900e-02 -6.43976076e-04 9.99908638e-01 -3.00943952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7886399999999999 meters Centerline goodness : 0.142534 with order 2 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.04 [[ 0.99990357 0.00220301 -0.01371136 0.14860197] [-0.00218632 0.99999685 0.00123208 0.01529143] [ 0.01371403 -0.00120199 0.99990524 -0.03994881] [ 0. 0. 0. 1. ]] SLAMing on 0.8486399999999998 meters Centerline goodness : 0.081370 with order 1 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.04 [[ 0.99990535 0.00204416 -0.0136055 0.14945184] [-0.00202453 0.99999689 0.00145623 0.01314728] [ 0.01360843 -0.00142855 0.99990638 -0.04009915] [ 0. 0. 0. 1. ]] SLAMing on 0.9086399999999999 meters Centerline goodness : 0.131509 with order 1 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.04 [[ 9.99964698e-01 1.24560422e-03 -8.30965911e-03 1.86000513e-01] [-1.23734098e-03 9.99998735e-01 9.99479745e-04 1.39003584e-02] [ 8.31089355e-03 -9.89162580e-04 9.99964975e-01 -3.51474239e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9686399999999998 meters SLAMing on 1.0286399999999998 meters SLAMing on 1.0886399999999998 meters SLAMing on 1.1486399999999999 meters SLAMing on 1.2086399999999997 meters SLAMing on 1.2686399999999998 meters SLAMing on 1.3286399999999998 meters Centerline goodness : 0.256844 with order 1 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.01, Z:-0.03 [[ 0.99962858 -0.00681101 -0.02638787 0.38503427] [ 0.00685278 0.99997541 0.00149289 -0.01494052] [ 0.02637705 -0.00167317 0.99965066 -0.03150944] [ 0. 0. 0. 1. ]] SLAMing on 1.3886399999999999 meters SLAMing on 1.4486399999999997 meters SLAMing on 1.5086399999999998 meters SLAMing on 1.5686399999999998 meters SLAMing on 1.6286399999999996 meters Centerline goodness : 0.074835 with order 1 Centerline is valid? [False, False] Translation: X:0.66, Y:-0.05, Z:0.00 [[ 0.99628281 0.07018868 -0.04994099 0.66150033] [-0.07094777 0.99738744 -0.01359068 -0.04535967] [ 0.04885661 0.01708337 0.9986597 0.00140662] [ 0. 0. 0. 1. ]] SLAMing on 1.6886399999999997 meters Centerline goodness : 0.152114 with order 1 Centerline is valid? [False, False] Translation: X:0.69, Y:-0.05, Z:-0.00 [[ 9.97321609e-01 5.47517687e-02 -4.84958888e-02 6.87039323e-01] [-5.49761822e-02 9.98482197e-01 -3.30478103e-03 -5.16314508e-02] [ 4.82413390e-02 5.96204835e-03 9.98817915e-01 -7.22464549e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7486399999999998 meters SLAMing on 1.8086399999999998 meters Centerline goodness : 0.072726 with order 1 Centerline is valid? [False, False] Translation: X:0.71, Y:-0.05, Z:-0.00 [[ 0.99849765 0.03628753 -0.04105683 0.71125495] [-0.03619274 0.99934017 0.00305004 -0.05449592] [ 0.04114042 -0.0015595 0.99915216 -0.00277926] [ 0. 0. 0. 1. ]] SLAMing on 1.8686399999999996 meters Centerline goodness : 0.072878 with order 1 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.06, Z:-0.00 [[ 0.99909553 0.0266659 -0.03312186 0.72717344] [-0.02657702 0.9996419 0.00312097 -0.05951795] [ 0.03319322 -0.00223787 0.99944645 -0.00147029] [ 0. 0. 0. 1. ]] SLAMing on 1.9286399999999997 meters Centerline goodness : 0.168114 with order 3 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.07, Z:0.00 [[ 0.99948655 0.01793476 -0.02655157 0.74228139] [-0.01779173 0.99982596 0.00561338 -0.07131931] [ 0.02664762 -0.0051381 0.99963168 0.00180922] [ 0. 0. 0. 1. ]] SLAMing on 1.9886399999999997 meters Centerline goodness : 0.167452 with order 3 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:0.00 [[ 0.99972071 0.01232423 -0.02016452 0.75757691] [-0.01210144 0.99986479 0.01113352 -0.08356583] [ 0.02029901 -0.01088639 0.99973468 0.00414156] [ 0. 0. 0. 1. ]] SLAMing on 2.04864 meters Centerline goodness : 0.169684 with order 1 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.08, Z:0.00 [[ 0.99973954 0.01242005 -0.0191469 0.75817465] [-0.01219821 0.99985762 0.01165954 -0.08480056] [ 0.01928899 -0.01142294 0.99974869 0.00485765] [ 0. 0. 0. 1. ]] SLAMing on 2.10864 meters Centerline goodness : 0.165637 with order 1 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.09, Z:0.01 [[ 0.99987491 0.00881118 -0.01313532 0.77265354] [-0.0085807 0.99981004 0.01750019 -0.08897308] [ 0.01328702 -0.01738529 0.99976057 0.00773589] [ 0. 0. 0. 1. ]] SLAMing on 2.16864 meters Centerline goodness : 0.135137 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:0.01 [[ 0.99983402 0.01068752 -0.0147553 0.79709055] [-0.01057025 0.99991211 0.00800297 -0.07826114] [ 0.01483953 -0.00784567 0.99985911 0.00869085] [ 0. 0. 0. 1. ]] SLAMing on 2.22864 meters Centerline goodness : 0.161564 with order 1 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.08, Z:0.00 [[ 0.99981693 0.01233042 -0.01463137 0.80264606] [-0.01219006 0.99987919 0.00964369 -0.0774551 ] [ 0.01474851 -0.00946356 0.99984645 0.00477512] [ 0. 0. 0. 1. ]] SLAMing on 2.28864 meters SLAMing on 2.34864 meters SLAMing on 2.4086399999999997 meters SLAMing on 2.4686399999999997 meters Centerline goodness : 0.994609 with order 1 Centerline is valid? [False, True] Translation: X:0.86, Y:-0.05, Z:0.02 [[ 0.99983312 0.01817639 0.00183266 0.85576865] [-0.01819536 0.99977468 0.01093237 -0.05164242] [-0.00163354 -0.01096389 0.99993856 0.01962121] [ 0. 0. 0. 1. ]] SLAMing on 2.5286399999999998 meters Centerline goodness : 0.955903 with order 1 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.04, Z:0.10 [[ 9.99991274e-01 3.70567618e-03 1.92855028e-03 9.15966859e-01] [-3.70571570e-03 9.99993134e-01 1.69209149e-05 -3.58554848e-02] [-1.92847433e-03 -2.40674263e-05 9.99998140e-01 1.00811430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.58864 meters Centerline goodness : 0.996963 with order 1 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.04, Z:0.06 [[ 9.99998106e-01 -2.61894674e-04 1.92855043e-03 9.77667519e-01] [ 2.61862562e-04 9.99999966e-01 1.69034756e-05 -3.51258568e-02] [-1.92855479e-03 -1.63984284e-05 9.99998140e-01 6.42049945e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64864 meters Centerline goodness : 0.999081 with order 1 Centerline is valid? [True, True] Translation: X:1.04, Y:-0.03, Z:0.06 [[ 9.99991877e-01 -3.53925252e-03 1.92855212e-03 1.03768265e+00] [ 3.53922688e-03 9.99993737e-01 1.67083525e-05 -2.72011384e-02] [-1.92859918e-03 -9.88263326e-06 9.99998140e-01 5.73884112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.70864 meters Centerline goodness : 0.999520 with order 1 Centerline is valid? [True, True] Translation: X:1.10, Y:-0.02, Z:0.06 [[ 9.99958272e-01 -8.92938686e-03 1.92855329e-03 1.09974496e+00] [ 8.92937150e-03 9.99960132e-01 1.65726157e-05 -2.43843132e-02] [-1.92862439e-03 6.48844607e-07 9.99998140e-01 6.14571863e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.76864 meters Centerline goodness : 0.992778 with order 1 Centerline is valid? [True, True] Translation: X:1.16, Y:-0.03, Z:0.09 [[ 9.99886872e-01 -1.49172318e-02 1.92855537e-03 1.16075023e+00] [ 1.49172280e-02 9.99888732e-01 1.63267549e-05 -2.52185314e-02] [-1.92858433e-03 1.24437923e-05 9.99998140e-01 9.24157593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8286399999999996 meters Centerline goodness : 0.994384 with order 1 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.03, Z:0.09 [[ 9.99761883e-01 -2.17361081e-02 1.92855565e-03 1.22196712e+00] [ 2.17361171e-02 9.99763743e-01 1.62942348e-05 -2.82941510e-02] [-1.92845418e-03 2.56289565e-05 9.99998140e-01 9.42993261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8886399999999997 meters Centerline goodness : 0.999642 with order 1 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.03, Z:0.08 [[ 9.99675057e-01 -2.54177253e-02 1.92855616e-03 1.28303715e+00] [ 2.54177412e-02 9.99676917e-01 1.62330350e-05 -3.12880633e-02] [-1.92834568e-03 3.27917813e-05 9.99998140e-01 8.07783251e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9486399999999997 meters Centerline goodness : 0.995639 with order 1 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.04, Z:0.10 [[ 9.99768461e-01 -2.14314024e-02 1.92855677e-03 1.34340413e+00] [ 2.14314111e-02 9.99770321e-01 1.61598231e-05 -3.59123098e-02] [-1.92846015e-03 2.51756116e-05 9.99998140e-01 9.85298958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0086399999999998 meters Centerline goodness : 0.999849 with order 1 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.04, Z:0.08 [[ 9.99758192e-01 -2.19051975e-02 1.92855716e-03 1.40409548e+00] [ 2.19052072e-02 9.99760052e-01 1.61141091e-05 -4.01269004e-02] [-1.92844739e-03 2.61352314e-05 9.99998140e-01 8.39024898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.06864 meters Centerline goodness : 0.910329 with order 3 Centerline is valid? [True, False] Translation: X:1.43, Y:-0.03, Z:0.09 [[ 0.99996419 -0.00768557 -0.0035435 1.42990267] [ 0.00761821 0.99979709 -0.01864764 -0.02810969] [ 0.00368609 0.01861998 0.99981984 0.08846823] [ 0. 0. 0. 1. ]] SLAMing on 3.12864 meters Centerline goodness : 0.839263 with order 2 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.02, Z:0.09 [[ 0.99997907 0.00447851 -0.00466916 1.45031734] [-0.00464102 0.99936256 -0.03539681 -0.02034236] [ 0.00450766 0.03541774 0.99936243 0.09186842] [ 0. 0. 0. 1. ]] SLAMing on 3.18864 meters Centerline goodness : 0.997171 with order 1 Centerline is valid? [False, True] Translation: X:1.49, Y:-0.01, Z:0.10 [[ 0.99975773 0.0151406 -0.01597608 1.48682197] [-0.01601528 0.99829545 -0.05612215 -0.01185117] [ 0.01509913 0.05636442 0.99829608 0.09695318] [ 0. 0. 0. 1. ]] SLAMing on 3.2486399999999995 meters Centerline goodness : 0.997185 with order 1 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.07, Z:0.09 [[ 9.99635867e-01 2.24321454e-02 -1.49977584e-02 1.54408905e+00] [-2.24306707e-02 9.99748365e-01 2.66555971e-04 -7.02456586e-02] [ 1.49999639e-02 6.99508706e-05 9.99887492e-01 9.46599232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3086399999999996 meters Centerline goodness : 0.998418 with order 1 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.07, Z:0.10 [[ 9.99492355e-01 2.81086946e-02 -1.49978027e-02 1.60318294e+00] [-2.81078965e-02 9.99604860e-01 2.64038918e-04 -7.40563170e-02] [ 1.49992983e-02 1.57651807e-04 9.99887492e-01 9.50131861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3686399999999996 meters Centerline goodness : 0.824280 with order 3 Centerline is valid? [True, False] Translation: X:1.60, Y:-0.08, Z:0.10 [[ 9.99726280e-01 2.33939465e-02 2.98379323e-04 1.59698688e+00] [-2.33935783e-02 9.99725633e-01 -1.18308542e-03 -7.82565695e-02] [-3.25974494e-04 1.17578143e-03 9.99999256e-01 9.53198343e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4286399999999997 meters Centerline goodness : 0.997536 with order 1 Centerline is valid? [False, True] Translation: X:1.59, Y:-0.09, Z:0.09 [[ 0.99983459 0.01509211 0.01014949 1.59477887] [-0.01515374 0.99986703 0.0060231 -0.08717045] [-0.01005724 -0.00617591 0.99993035 0.09464184] [ 0. 0. 0. 1. ]] SLAMing on 3.4886399999999997 meters Centerline goodness : 0.998224 with order 1 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.08, Z:0.09 [[ 9.99606394e-01 2.61151984e-02 1.02495824e-02 1.65734642e+00] [-2.61183643e-02 9.99658842e-01 1.75119221e-04 -7.50481173e-02] [-1.02415124e-02 -4.42752621e-04 9.99947456e-01 9.04936147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.54864 meters Centerline goodness : 0.998275 with order 1 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.07, Z:0.09 [[ 9.99427061e-01 3.22567117e-02 1.02496161e-02 1.71901286e+00] [-3.22601794e-02 9.99479490e-01 1.73129514e-04 -6.76958220e-02] [-1.02386964e-02 -5.03684774e-04 9.99947456e-01 9.04118553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.60864 meters Centerline goodness : 0.996157 with order 1 Centerline is valid? [True, True] Translation: X:1.78, Y:-0.09, Z:0.08 [[ 9.99625495e-01 -2.53735070e-02 1.02496324e-02 1.78257067e+00] [ 2.53730755e-02 9.99678037e-01 1.72156954e-04 -8.83628689e-02] [-1.02507006e-02 8.79722161e-05 9.99947456e-01 7.53506207e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6686399999999995 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.06, Z:0.09 [[ 9.99391783e-01 3.33317715e-02 1.02497154e-02 1.84506711e+00] [-3.33352336e-02 9.99444213e-01 1.67065724e-04 -6.07397281e-02] [-1.02384501e-02 -5.08640768e-04 9.99947456e-01 8.55612391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7286399999999995 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.06, Z:0.08 [[ 9.99510771e-01 2.95492908e-02 1.02497462e-02 1.90822686e+00] [-2.95525348e-02 9.99563215e-01 1.65152629e-04 -5.99843561e-02] [-1.02403891e-02 -4.67977813e-04 9.99947456e-01 8.49113389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7886399999999996 meters Centerline goodness : 0.996996 with order 1 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.05, Z:0.09 [[ 9.99461532e-01 3.11703166e-02 1.02497767e-02 1.96992393e+00] [-3.11736260e-02 9.99513971e-01 1.63235392e-04 -5.34709495e-02] [-1.02397069e-02 -4.82670202e-04 9.99947456e-01 9.35961249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8486399999999996 meters Centerline goodness : 0.995053 with order 1 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.04, Z:0.08 [[ 9.96918474e-01 7.77720896e-02 1.02497921e-02 2.02943799e+00] [-7.77778325e-02 9.96970703e-01 1.62267380e-04 -3.69519064e-02] [-1.02061225e-02 -9.58973958e-04 9.99947456e-01 7.91225257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9086399999999997 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:2.09, Y:-0.03, Z:0.09 [[ 9.99213638e-01 3.83020551e-02 1.02497921e-02 2.08980432e+00] [-3.83057288e-02 9.99266053e-01 1.62267380e-04 -3.22615795e-02] [-1.02360541e-02 -5.54765533e-04 9.99947456e-01 8.65240589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9686399999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:2.15, Y:-0.02, Z:0.07 [[ 9.99367381e-01 3.40555244e-02 1.02497933e-02 2.15083292e+00] [-3.40589745e-02 9.99419812e-01 1.62186095e-04 -2.27542892e-02] [-1.02383232e-02 -5.11180944e-04 9.99947456e-01 7.39565712e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.028639999999999 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:2.21, Y:-0.01, Z:0.09 [[ 9.99615028e-01 2.57824915e-02 1.02497983e-02 2.21128614e+00] [-2.57855042e-02 9.99667486e-01 1.61869741e-04 -8.70030113e-03] [-1.02422167e-02 -4.26103644e-04 9.99947456e-01 8.59371283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.088639999999999 meters Centerline goodness : 0.998326 with order 1 Centerline is valid? [True, True] Translation: X:2.27, Y:-0.00, Z:0.09 [[ 9.99793120e-01 1.75686979e-02 1.02498034e-02 2.27298578e+00] [-1.75712763e-02 9.99845600e-01 1.61548113e-04 -1.78981762e-03] [-1.02453827e-02 -3.41616820e-04 9.99947456e-01 8.97553414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.148639999999999 meters Centerline goodness : 0.971864 with order 1 Centerline is valid? [True, True] Translation: X:2.33, Y:0.02, Z:0.06 [[ 9.95445504e-01 9.47796873e-02 1.02498240e-02 2.33203204e+00] [-9.47863002e-02 9.95497630e-01 1.60230442e-04 1.93250119e-02] [-1.01884889e-02 -1.13104357e-03 9.99947456e-01 6.19807960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.208639999999999 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:2.39, Y:0.01, Z:0.09 [[ 9.99926748e-01 -6.43737550e-03 1.02498186e-02 2.39252461e+00] [ 6.43606770e-03 9.99979275e-01 1.60572633e-04 1.00481304e-02] [-1.02506399e-02 -9.45923437e-05 9.99947456e-01 9.03384666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.2686399999999995 meters Centerline goodness : 0.997982 with order 1 Centerline is valid? [True, True] Translation: X:2.45, Y:0.00, Z:0.07 [[ 9.97582913e-01 -6.87260764e-02 1.02498133e-02 2.45147097e+00] [ 6.87280405e-02 9.97635420e-01 1.60911087e-04 4.01595606e-03] [-1.02366356e-02 5.43927435e-04 9.99947456e-01 6.52310823e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.328639999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:2.51, Y:0.01, Z:0.07 [[ 9.99617955e-01 -2.56687622e-02 1.02498086e-02 2.51198986e+00] [ 2.56684584e-02 9.99670498e-01 1.61214246e-04 1.12325572e-02] [-1.02505694e-02 1.01944129e-04 9.99947456e-01 6.52321615e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.388639999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:2.57, Y:0.01, Z:0.06 [[ 9.99417529e-01 -3.25506378e-02 1.02498138e-02 2.57374132e+00] [ 3.25506991e-02 9.99470073e-01 1.60880939e-04 1.00709486e-02] [-1.02496189e-02 1.72851374e-04 9.99947456e-01 6.26712161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.448639999999999 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:2.64, Y:0.00, Z:0.06 [[ 9.99094242e-01 -4.12993346e-02 1.02498821e-02 2.63585803e+00] [ 4.12999018e-02 9.99146783e-01 1.56408023e-04 9.43884208e-04] [-1.02475962e-02 2.67052767e-04 9.99947456e-01 6.04634621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.508639999999999 meters Centerline goodness : 0.998376 with order 1 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.01, Z:0.09 [[ 9.98785950e-01 -4.81826230e-02 1.02499481e-02 2.69841505e+00] [ 4.81835979e-02 9.98838484e-01 1.51956280e-04 -1.13377300e-02] [-1.02453642e-02 3.42107579e-04 9.99947456e-01 8.71431815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.568639999999999 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.02, Z:0.09 [[ 9.98860620e-01 -4.66090126e-02 1.02500111e-02 2.76103595e+00] [ 4.66099497e-02 9.98913155e-01 1.47573774e-04 -2.46374195e-02] [-1.02457492e-02 3.30346872e-04 9.99947456e-01 8.67422526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.628639999999999 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.04, Z:0.06 [[ 9.99298841e-01 -3.60105759e-02 1.02500740e-02 2.82340240e+00] [ 3.60110018e-02 9.99351383e-01 1.43070378e-04 -3.74617694e-02] [-1.02485777e-02 2.26145370e-04 9.99947456e-01 5.78633341e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6886399999999995 meters Centerline goodness : 0.998916 with order 1 Centerline is valid? [True, True] Translation: X:2.89, Y:-0.04, Z:0.06 [[ 9.99536945e-01 -2.86501250e-02 1.02501355e-02 2.88625602e+00] [ 2.86502105e-02 9.99589489e-01 1.38523350e-04 -4.20013048e-02] [-1.02498964e-02 1.55209333e-04 9.99947456e-01 5.73160384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.748639999999999 meters Centerline goodness : 0.997187 with order 1 Centerline is valid? [True, True] Translation: X:2.95, Y:-0.05, Z:0.08 [[ 9.99774330e-01 -1.86070409e-02 1.02502028e-02 2.94841125e+00] [ 1.86066516e-02 9.99826872e-01 1.33350482e-04 -4.58750751e-02] [-1.02509094e-02 5.74015629e-05 9.99947456e-01 8.33834124e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.808639999999999 meters Centerline goodness : 0.997381 with order 1 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.05, Z:0.08 [[ 9.99858778e-01 -1.33175219e-02 1.02502242e-02 3.01070713e+00] [ 1.33168718e-02 9.99911318e-01 1.31680024e-04 -5.11434831e-02] [-1.02510689e-02 4.83949315e-06 9.99947456e-01 8.10546034e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.868639999999999 meters Centerline goodness : 0.995958 with order 1 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.05, Z:0.08 [[ 9.99919998e-01 -7.41145638e-03 1.02502837e-02 3.07425827e+00] [ 7.41054519e-03 9.99972533e-01 1.26873083e-04 -5.31294087e-02] [-1.02509425e-02 -5.09027422e-05 9.99947456e-01 8.29341838e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.928639999999999 meters Centerline goodness : 0.995715 with order 1 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.05, Z:0.08 [[ 9.99931199e-01 -5.70333334e-03 1.02503493e-02 3.13604974e+00] [ 5.70238923e-03 9.99983734e-01 1.21329750e-04 -5.18099064e-02] [-1.02508746e-02 -6.28699210e-05 9.99947456e-01 8.29024092e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.988639999999999 meters Centerline goodness : 0.996306 with order 1 Centerline is valid? [True, True] Translation: X:3.20, Y:-0.05, Z:0.08 [[ 9.99944461e-01 -2.45024515e-03 1.02504001e-02 3.19812017e+00] [ 2.44917580e-03 9.99996994e-01 1.16874967e-04 -4.78754474e-02] [-1.02506557e-02 -9.17634441e-05 9.99947456e-01 7.87369419e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.048639999999999 meters Centerline goodness : 0.996796 with order 1 Centerline is valid? [True, True] Translation: X:3.26, Y:-0.05, Z:0.08 [[ 9.99947353e-01 -4.68515523e-04 1.02504159e-02 3.25977873e+00] [ 4.67356410e-04 9.99999884e-01 1.15474713e-04 -4.57408019e-02] [-1.02504688e-02 -1.10678036e-04 9.99947456e-01 7.76550727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.108639999999999 meters Centerline goodness : 0.997781 with order 1 Centerline is valid? [True, True] Translation: X:3.32, Y:-0.04, Z:0.07 [[ 9.99947095e-01 8.57290245e-04 1.02504646e-02 3.32287168e+00] [-8.58472857e-04 9.99999625e-01 1.10972127e-04 -3.94149624e-02] [-1.02503657e-02 -1.19766001e-04 9.99947456e-01 7.34531689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.168639999999999 meters Centerline goodness : 0.996849 with order 1 Centerline is valid? [True, True] Translation: X:3.38, Y:-0.03, Z:0.08 [[ 9.99946788e-01 -1.16175775e-03 1.02504867e-02 3.38496363e+00] [ 1.16070254e-03 9.99999320e-01 1.08890742e-04 -3.47958229e-02] [-1.02506063e-02 -9.69871817e-05 9.99947456e-01 7.50169406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.228639999999999 meters Centerline goodness : 0.996353 with order 1 Centerline is valid? [True, True] Translation: X:3.45, Y:-0.03, Z:0.08 [[ 9.99944975e-01 -2.23005830e-03 1.02505362e-02 3.44633055e+00] [ 2.22910917e-03 9.99997510e-01 1.04017195e-04 -2.78830670e-02] [-1.02507426e-02 -8.11619076e-05 9.99947456e-01 7.60934988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.288639999999999 meters Centerline goodness : 0.997287 with order 1 Centerline is valid? [True, True] Translation: X:3.51, Y:-0.03, Z:0.07 [[ 9.99895786e-01 -1.01657794e-02 1.02505433e-02 3.50810325e+00] [ 1.01652545e-02 9.99948327e-01 1.03315279e-04 -2.72791660e-02] [-1.02510639e-02 8.94868764e-07 9.99947456e-01 6.72985269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.348639999999999 meters Centerline goodness : 0.996259 with order 1 Centerline is valid? [True, True] Translation: X:3.57, Y:-0.02, Z:0.07 [[ 9.99933241e-01 -5.33286137e-03 1.02505902e-02 3.57032386e+00] [ 5.33213252e-03 9.99985779e-01 9.84311332e-05 -2.25904916e-02] [-1.02509693e-02 -4.37670568e-05 9.99947456e-01 7.30744632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.408639999999999 meters Centerline goodness : 0.995262 with order 1 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.02, Z:0.07 [[ 9.99924906e-01 -6.71618055e-03 1.02506343e-02 3.63298504e+00] [ 6.71557390e-03 9.99977446e-01 9.36013548e-05 -2.29460407e-02] [-1.02510317e-02 -2.47554339e-05 9.99947456e-01 7.46845927e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.468639999999999 meters Centerline goodness : 0.996009 with order 1 Centerline is valid? [True, True] Translation: X:3.70, Y:-0.02, Z:0.07 [[ 9.99944035e-01 -2.61732121e-03 1.02506575e-02 3.69529649e+00] [ 2.61652602e-03 9.99996573e-01 9.09846607e-05 -2.20433380e-02] [-1.02508605e-02 -6.41584566e-05 9.99947456e-01 7.05188741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.528639999999999 meters Centerline goodness : 0.995713 with order 1 Centerline is valid? [True, True] Translation: X:3.76, Y:-0.02, Z:0.07 [[ 9.99944586e-01 -2.39763492e-03 1.02506695e-02 3.75766168e+00] [ 2.39684222e-03 9.99997124e-01 8.96151360e-05 -2.10327163e-02] [-1.02508549e-02 -6.50409326e-05 9.99947456e-01 6.95703800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.588639999999999 meters Centerline goodness : 0.997930 with order 1 Centerline is valid? [True, True] Translation: X:3.82, Y:-0.02, Z:0.05 [[ 9.99929849e-01 -5.93464081e-03 1.02507096e-02 3.81924531e+00] [ 5.93408371e-03 9.99982390e-01 8.47624341e-05 -2.12982466e-02] [-1.02510321e-02 -2.39279191e-05 9.99947457e-01 4.95838446e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6486399999999986 meters Centerline goodness : 0.998473 with order 1 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.02, Z:0.05 [[ 9.99926645e-01 -6.45193348e-03 1.02507467e-02 3.88132583e+00] [ 6.45145234e-03 9.99979186e-01 8.00039834e-05 -1.95323750e-02] [-1.02510496e-02 -1.38659106e-05 9.99947457e-01 4.93457622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.708639999999999 meters Centerline goodness : 0.998670 with order 1 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.02, Z:0.05 [[ 9.99943525e-01 -2.80500214e-03 1.02507815e-02 3.94358292e+00] [ 2.80437789e-03 9.99996065e-01 7.52714770e-05 -1.50791786e-02] [-1.02509523e-02 -4.65201611e-05 9.99947457e-01 4.82917269e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.768639999999999 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:4.01, Y:-0.01, Z:0.05 [[ 9.99947289e-01 -5.83279306e-04 1.02508140e-02 4.00608047e+00] [ 5.82586751e-04 9.99999828e-01 7.05469166e-05 -1.03383868e-02] [-1.02508534e-02 -6.45712096e-05 9.99947457e-01 4.79626249e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.828639999999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:4.07, Y:-0.01, Z:0.05 [[ 9.99946046e-01 -1.68125123e-03 1.02508232e-02 4.06813442e+00] [ 1.68063029e-03 9.99998585e-01 6.91891140e-05 -1.02521514e-02] [-1.02509250e-02 -5.19575371e-05 9.99947457e-01 4.71526369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.888639999999999 meters Centerline goodness : 0.988686 with order 1 Centerline is valid? [True, True] Translation: X:4.13, Y:-0.03, Z:0.04 [[ 9.96949013e-01 -7.73794912e-02 1.02508529e-02 4.12957251e+00] [ 7.73828981e-02 9.97001446e-01 6.44545998e-05 -2.67104557e-02] [-1.02251027e-02 7.28982759e-04 9.99947457e-01 4.02431866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.948639999999999 meters Centerline goodness : 0.999556 with order 1 Centerline is valid? [True, True] Translation: X:4.19, Y:-0.00, Z:0.03 [[ 9.99674437e-01 -2.33653519e-02 1.02508781e-02 4.19106753e+00] [ 2.33659630e-02 9.99726977e-01 6.01623451e-05 -4.70325683e-03] [-1.02494851e-02 1.79378881e-04 9.99947457e-01 3.29447852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.008639999999999 meters Centerline goodness : 0.997635 with order 1 Centerline is valid? [True, True] Translation: X:4.25, Y:-0.00, Z:0.07 [[ 9.99946966e-01 -9.92060583e-04 1.02508850e-02 4.25254529e+00] [ 9.91508279e-04 9.99999507e-01 5.89605149e-05 -1.45096630e-03] [-1.02509385e-02 -4.87935506e-05 9.99947457e-01 6.59330841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0686399999999985 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:4.31, Y:0.00, Z:0.06 [[ 9.99944050e-01 -2.61073183e-03 1.02508869e-02 4.31469608e+00] [ 2.61026794e-03 9.99996592e-01 5.86323166e-05 9.19163832e-04] [-1.02510051e-02 -3.18714746e-05 9.99947457e-01 6.35564916e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.128639999999999 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:4.38, Y:0.01, Z:0.06 [[ 9.99943750e-01 -2.72333508e-03 1.02509120e-02 4.37777905e+00] [ 2.72292597e-03 9.99996291e-01 5.38657129e-05 5.37230778e-03] [-1.02510207e-02 -2.59502085e-05 9.99947457e-01 6.49689679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.188639999999999 meters Centerline goodness : 0.990211 with order 1 Centerline is valid? [True, True] Translation: X:4.44, Y:-0.02, Z:0.04 [[ 9.97713767e-01 -6.67993870e-02 1.02509377e-02 4.43953316e+00] [ 6.68024015e-02 9.97766224e-01 4.84230009e-05 -2.20748148e-02] [-1.02312740e-02 6.36474961e-04 9.99947457e-01 4.34652232e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.248639999999999 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:4.50, Y:0.01, Z:0.07 [[ 9.99941506e-01 -3.44999932e-03 1.02509568e-02 4.50086347e+00] [ 3.44973000e-03 9.99994049e-01 4.39548000e-05 9.75183025e-03] [-1.02510475e-02 -8.58919554e-06 9.99947457e-01 6.52675120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.308639999999999 meters Centerline goodness : 0.931341 with order 1 Centerline is valid? [True, False] Translation: X:4.50, Y:0.04, Z:0.07 [[ 9.99997889e-01 1.61568181e-03 1.26933831e-03 4.50238456e+00] [-1.56606372e-03 9.99270281e-01 -3.81635080e-02 4.04169880e-02] [-1.33007214e-03 3.81614396e-02 9.99270702e-01 7.45786915e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.368639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:4.52, Y:0.06, Z:0.08 [[ 0.9999234 0.00709588 -0.01014161 4.52089349] [-0.00766278 0.99834486 -0.05699852 0.05563765] [ 0.00972037 0.05707186 0.99832275 0.07740946] [ 0. 0. 0. 1. ]] SLAMing on 6.428639999999999 meters Centerline goodness : 0.998277 with order 1 Centerline is valid? [True, True] Translation: X:4.58, Y:0.00, Z:0.10 [[ 9.99932166e-01 6.39366831e-03 -9.73573980e-03 4.58034147e+00] [-6.39327086e-03 9.99979560e-01 7.19457716e-05 4.24783281e-03] [ 9.73600080e-03 -9.69766962e-06 9.99952604e-01 9.50591266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.488639999999998 meters Centerline goodness : 0.998668 with order 1 Centerline is valid? [True, True] Translation: X:4.64, Y:0.00, Z:0.10 [[ 9.99936024e-01 5.75868790e-03 -9.73574445e-03 4.63922023e+00] [-5.75826654e-03 9.99983419e-01 7.13107963e-05 4.91994103e-03] [ 9.73599367e-03 -1.52452227e-05 9.99952604e-01 9.73647613e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.548639999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:4.70, Y:0.01, Z:0.07 [[ 9.99945270e-01 3.83027014e-03 -9.73577543e-03 4.69836769e+00] [-3.82980135e-03 9.99992664e-01 6.67944347e-05 8.95198891e-03] [ 9.73595985e-03 -2.95046932e-05 9.99952604e-01 7.32159683e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6086399999999985 meters Centerline goodness : 0.997684 with order 1 Centerline is valid? [True, True] Translation: X:4.76, Y:0.01, Z:0.10 [[ 9.99952587e-01 -1.94730362e-04 -9.73580435e-03 4.75737459e+00] [ 1.95345910e-04 9.99999979e-01 6.22742768e-05 1.22235048e-02] [ 9.73579202e-03 -6.41731737e-05 9.99952604e-01 9.99057279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.668639999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:4.82, Y:0.01, Z:0.07 [[ 9.99941378e-01 -4.73855742e-03 -9.73581223e-03 4.81682120e+00] [ 4.73937606e-03 9.99988767e-01 6.10160245e-05 1.34464263e-02] [ 9.73541374e-03 -1.07154123e-04 9.99952604e-01 7.29886064e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.728639999999999 meters Centerline goodness : 0.997686 with order 1 Centerline is valid? [True, True] Translation: X:4.88, Y:0.01, Z:0.10 [[ 9.99896542e-01 -1.05886629e-02 -9.73581995e-03 4.87561290e+00] [ 1.05897465e-02 9.99943925e-01 5.97584976e-05 1.05270587e-02] [ 9.73464125e-03 -1.62852180e-04 9.99952604e-01 9.87026849e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.788639999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:4.93, Y:0.01, Z:0.07 [[ 9.99848895e-01 -1.44014217e-02 -9.73582737e-03 4.93488099e+00] [ 1.44026740e-02 9.99896274e-01 5.85234632e-05 9.86595552e-03] [ 9.73397470e-03 -1.98736568e-04 9.99952604e-01 7.43392327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.848639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:4.99, Y:0.01, Z:0.07 [[ 9.99819648e-01 -1.63059617e-02 -9.73583470e-03 4.99372740e+00] [ 1.63072921e-02 9.99867026e-01 5.72782221e-05 8.17959922e-03] [ 9.73360611e-03 -2.16032992e-04 9.99952604e-01 7.45492677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.908639999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:5.05, Y:0.00, Z:0.07 [[ 9.99837609e-01 -1.51647089e-02 -9.73584166e-03 5.05239916e+00] [ 1.51659735e-02 9.99884988e-01 5.60695415e-05 2.76725631e-03] [ 9.73387165e-03 -2.03713952e-04 9.99952604e-01 7.48959170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.968639999999999 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:5.11, Y:0.00, Z:0.10 [[ 9.99887663e-01 -1.13962833e-02 -9.73584848e-03 5.11104777e+00] [ 1.13973575e-02 9.99935047e-01 5.48597621e-05 2.51041146e-03] [ 9.73459090e-03 -1.65816545e-04 9.99952604e-01 1.04591515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0286399999999984 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:5.17, Y:0.00, Z:0.10 [[ 9.99921203e-01 -7.92465991e-03 -9.73585354e-03 5.16939892e+00] [ 7.92556073e-03 9.99968591e-01 5.39462930e-05 5.28936654e-04] [ 9.73512024e-03 -1.31104141e-04 9.99952604e-01 1.02878025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.088639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.01, Z:0.07 [[ 9.99850902e-01 -1.42613702e-02 -9.73586194e-03 5.22932136e+00] [ 1.42625562e-02 9.99898283e-01 5.23845299e-05 -5.64787021e-03] [ 9.73412457e-03 -1.91234997e-04 9.99952604e-01 7.17281159e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1486399999999986 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.00, Z:0.10 [[ 9.99943826e-01 -4.19030908e-03 -9.73586529e-03 5.28795564e+00] [ 4.19101159e-03 9.99991216e-01 5.17554491e-05 -1.43933324e-03] [ 9.73556290e-03 -9.25556660e-05 9.99952604e-01 1.00872255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.208639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.35, Y:0.00, Z:0.08 [[ 9.99951273e-01 1.63251067e-03 -9.73587181e-03 5.34722985e+00] [-1.63209637e-03 9.99998667e-01 5.04987360e-05 3.34434899e-03] [ 9.73594127e-03 -3.46063942e-05 9.99952604e-01 7.83918961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.268639999999999 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:5.41, Y:0.01, Z:0.10 [[ 9.99939596e-01 5.10058959e-03 -9.73589298e-03 5.40579617e+00] [-5.10038328e-03 9.99986992e-01 4.60201706e-05 9.93378908e-03] [ 9.73600106e-03 3.63939486e-06 9.99952604e-01 1.02215508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.328639999999998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:5.46, Y:0.02, Z:0.10 [[ 9.99921298e-01 7.91269633e-03 -9.73591201e-03 5.46494332e+00] [-7.91266673e-03 9.99968693e-01 4.15601951e-05 1.80497145e-02] [ 9.73593607e-03 3.54801029e-05 9.99952604e-01 1.00568298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.388639999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:5.52, Y:0.03, Z:0.10 [[ 9.99892384e-01 1.09741709e-02 -9.73591605e-03 5.52343104e+00] [-1.09742958e-02 9.99939780e-01 4.05923522e-05 2.53384930e-02] [ 9.73577522e-03 6.62568392e-05 9.99952604e-01 1.00137300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.448639999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:5.58, Y:0.03, Z:0.10 [[ 9.99883607e-01 1.17467003e-02 -9.73593277e-03 5.58235796e+00] [-1.17469058e-02 9.99931002e-01 3.60816732e-05 3.40593417e-02] [ 9.73568485e-03 7.82896118e-05 9.99952604e-01 9.91734079e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.508639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:5.64, Y:0.04, Z:0.10 [[ 9.99883907e-01 1.17211178e-02 -9.73594744e-03 5.64083570e+00] [-1.17213661e-02 9.99931302e-01 3.15537699e-05 3.81190123e-02] [ 9.73564845e-03 8.25684980e-05 9.99952604e-01 9.72115117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5686399999999985 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:5.70, Y:0.04, Z:0.10 [[ 9.99888808e-01 1.12952338e-02 -9.73596000e-03 5.69824474e+00] [-1.12955060e-02 9.99936203e-01 2.70297500e-05 3.95284922e-02] [ 9.73564419e-03 8.29458505e-05 9.99952604e-01 1.00343310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.628639999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:5.76, Y:0.04, Z:0.10 [[ 9.99912781e-01 8.92422606e-03 -9.73597157e-03 5.75685674e+00] [-8.92443602e-03 9.99960176e-01 2.18799223e-05 4.09853247e-02] [ 9.73577911e-03 6.50100415e-05 9.99952604e-01 1.01097856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.688639999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:5.82, Y:0.04, Z:0.10 [[ 9.99942821e-01 4.42338172e-03 -9.73597960e-03 5.81569639e+00] [-4.42342212e-03 9.99990216e-01 1.73843448e-05 3.75532003e-02] [ 9.73596125e-03 2.56829967e-05 9.99952604e-01 9.83054427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.748639999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:5.87, Y:0.03, Z:0.10 [[ 9.99950735e-01 1.93345099e-03 -9.73598556e-03 5.87434679e+00] [-1.93341727e-03 9.99998131e-01 1.28755258e-05 3.28375624e-02] [ 9.73599226e-03 5.94883118e-06 9.99952604e-01 1.04141190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.808639999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:5.93, Y:0.03, Z:0.11 [[ 9.99942045e-01 4.59523664e-03 -9.73598708e-03 5.93328392e+00] [-4.59534142e-03 9.99989441e-01 1.16088351e-05 3.17048475e-02] [ 9.73593762e-03 3.31320224e-05 9.99952604e-01 1.05741135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.868639999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:5.99, Y:0.03, Z:0.10 [[ 9.99917976e-01 8.32180559e-03 -9.73599034e-03 5.99203306e+00] [-8.32213017e-03 9.99965370e-01 7.17474578e-06 2.94946325e-02] [ 9.73571290e-03 7.38500217e-05 9.99952604e-01 1.02441021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.928639999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:6.05, Y:0.03, Z:0.10 [[ 9.99903107e-01 9.94920594e-03 -9.73599159e-03 6.05111211e+00] [-9.94965103e-03 9.99950501e-01 2.72034616e-06 3.06534092e-02] [ 9.73553673e-03 9.41496362e-05 9.99952604e-01 1.02856605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.988639999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:6.11, Y:0.03, Z:0.11 [[ 9.99891152e-01 1.10857882e-02 -9.73599078e-03 6.10996039e+00] [-1.10863308e-02 9.99938545e-01 -1.76207527e-06 3.09339116e-02] [ 9.73537291e-03 1.09698298e-04 9.99952604e-01 1.05409427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.048639999999999 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:6.17, Y:0.03, Z:0.11 [[ 9.99883851e-01 1.17258591e-02 -9.73599036e-03 6.16899784e+00] [-1.17264449e-02 9.99931243e-01 -3.07546290e-06 3.49841653e-02] [ 9.73528488e-03 1.17243660e-04 9.99952604e-01 1.05408861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10864 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:6.23, Y:0.04, Z:0.11 [[ 9.99841339e-01 1.49167000e-02 -9.73598683e-03 6.22786062e+00] [-1.49174810e-02 9.99888728e-01 -7.59949529e-06 3.88762418e-02] [ 9.73479013e-03 1.52834688e-04 9.99952604e-01 1.08565648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.168639999999998 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:6.29, Y:0.04, Z:0.11 [[ 9.99850322e-01 1.43018888e-02 -9.73598113e-03 6.28690209e+00] [-1.43026851e-02 9.99897711e-01 -1.21621516e-05 4.36052763e-02] [ 9.73481131e-03 1.51411003e-04 9.99952604e-01 1.08433470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.228639999999999 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:6.35, Y:0.04, Z:0.11 [[ 9.99907815e-01 9.46422031e-03 -9.73597933e-03 6.34577003e+00] [-9.46480000e-03 9.99955208e-01 -1.34667422e-05 4.39716654e-02] [ 9.73541578e-03 1.05614598e-04 9.99952604e-01 1.09880810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.28864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:6.40, Y:0.04, Z:0.11 [[ 9.99952543e-01 3.50380914e-04 -9.73597086e-03 6.40477320e+00] [-3.50573119e-04 9.99999938e-01 -1.80351871e-05 4.41648175e-02] [ 9.73596394e-03 2.14475009e-05 9.99952604e-01 1.08831847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.348639999999998 meters Centerline goodness : 0.984177 with order 1 Centerline is valid? [True, True] Translation: X:6.46, Y:0.06, Z:0.10 [[ 9.99123891e-01 4.07020972e-02 -9.73596894e-03 6.46335456e+00] [-4.07042114e-02 9.99171240e-01 -1.90179627e-05 6.25487357e-02] [ 9.72712609e-03 4.15296239e-04 9.99952604e-01 1.01607793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.408639999999998 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:6.52, Y:0.03, Z:0.11 [[ 9.99760462e-01 -1.96017695e-02 -9.73595816e-03 6.52253492e+00] [ 1.96024700e-02 9.99807853e-01 -2.34891362e-05 3.08218276e-02] [ 9.73454785e-03 -1.67365318e-04 9.99952604e-01 1.09270234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.468639999999999 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:6.58, Y:0.03, Z:0.11 [[ 9.99758339e-01 -1.97097690e-02 -9.73595497e-03 6.58110302e+00] [ 1.97104623e-02 9.99805730e-01 -2.47414553e-05 2.79706070e-02] [ 9.73455122e-03 -1.67164698e-04 9.99952604e-01 1.09747948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:6.64, Y:0.03, Z:0.09 [[ 9.99793297e-01 -1.78486557e-02 -9.73595169e-03 6.64166548e+00] [ 1.78492489e-02 9.99840689e-01 -2.59744396e-05 2.52289166e-02] [ 9.73486425e-03 -1.47810354e-04 9.99952604e-01 8.86428055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.588639999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:6.70, Y:0.02, Z:0.09 [[ 9.99889342e-01 -1.12478583e-02 -9.73595086e-03 6.70030583e+00] [ 1.12481355e-02 9.99936737e-01 -2.62798456e-05 2.49915744e-02] [ 9.73563053e-03 -8.32343571e-05 9.99952604e-01 8.98983443e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.648639999999999 meters Centerline goodness : 0.966468 with order 1 Centerline is valid? [True, True] Translation: X:6.76, Y:0.06, Z:0.09 [[ 9.97068290e-01 7.58949021e-02 -9.73594744e-03 6.75997058e+00] [-7.58987663e-02 9.97115528e-01 -2.74914121e-05 6.45343505e-02] [ 9.70577792e-03 7.66357214e-04 9.99952604e-01 8.99538663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.708639999999999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:6.82, Y:0.03, Z:0.11 [[ 9.99946027e-01 -3.62704368e-03 -9.73594562e-03 6.81827471e+00] [ 3.62694179e-03 9.99993422e-01 -2.81220546e-05 2.60663798e-02] [ 9.73598358e-03 -7.19117123e-06 9.99952604e-01 1.11548770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.768639999999998 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:6.88, Y:0.03, Z:0.11 [[ 9.99950537e-01 -2.03332425e-03 -9.73594175e-03 6.87593630e+00] [ 2.03313435e-03 9.99997933e-01 -2.94026870e-05 2.74456064e-02] [ 9.73598141e-03 9.60675508e-06 9.99952604e-01 1.12642609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.828639999999998 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:6.93, Y:0.03, Z:0.11 [[ 9.99951685e-01 1.35616025e-03 -9.73592376e-03 6.93443843e+00] [-1.35656025e-03 9.99999079e-01 -3.44813254e-05 3.06474519e-02] [ 9.73586804e-03 4.76870267e-05 9.99952604e-01 1.11714964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.888639999999999 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:6.99, Y:0.03, Z:0.12 [[ 9.99951012e-01 1.78473869e-03 -9.73590713e-03 6.99366644e+00] [-1.78519977e-03 9.99998406e-01 -3.86687222e-05 3.34687169e-02] [ 9.73582260e-03 5.60473670e-05 9.99952604e-01 1.17098161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.94864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:7.05, Y:0.04, Z:0.11 [[ 9.99951392e-01 1.55772855e-03 -9.73588802e-03 7.05430383e+00] [-1.55822101e-03 9.99998785e-01 -4.29966256e-05 3.55615662e-02] [ 9.73580921e-03 5.81652008e-05 9.99952604e-01 1.07507902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.008639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.11, Y:0.04, Z:0.09 [[ 9.99949655e-01 2.42887983e-03 -9.73588802e-03 7.11485826e+00] [-2.42941358e-03 9.99997048e-01 -4.29966256e-05 3.85164484e-02] [ 9.73575485e-03 6.66469595e-05 9.99952604e-01 9.15882214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.068639999999998 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:7.18, Y:0.02, Z:0.09 [[ 9.98725847e-01 -4.95166225e-02 -9.73588661e-03 7.17505413e+00] [ 4.95185482e-02 9.98773203e-01 -4.33123320e-05 1.92494781e-02] [ 9.72608734e-03 -4.38849826e-04 9.99952604e-01 9.46838321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.128639999999999 meters Centerline goodness : 0.952521 with order 1 Centerline is valid? [True, True] Translation: X:7.24, Y:0.01, Z:0.09 [[ 9.95158028e-01 -9.78044584e-02 -9.73588520e-03 7.23525708e+00] [ 9.78086712e-02 9.95205236e-01 -4.36284843e-05 7.91943545e-03] [ 9.69347099e-03 -9.08836758e-04 9.99952604e-01 8.64571459e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.188639999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:7.30, Y:0.05, Z:0.10 [[ 9.99949970e-01 -2.29569525e-03 -9.73588379e-03 7.29578248e+00] [ 2.29537623e-03 9.99997365e-01 -4.39411499e-05 4.62866086e-02] [ 9.73595901e-03 2.15914352e-05 9.99952604e-01 9.52662340e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.248639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:7.35, Y:0.05, Z:0.10 [[ 9.99933345e-01 -6.20634732e-03 -9.73588521e-03 7.35492242e+00] [ 6.20621676e-03 9.99980740e-01 -4.36231833e-05 4.63021250e-02] [ 9.73596844e-03 -1.68027384e-05 9.99952604e-01 9.74741123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.308639999999999 meters Centerline goodness : 0.998476 with order 1 Centerline is valid? [True, True] Translation: X:7.41, Y:0.05, Z:0.12 [[ 9.99910008e-01 -9.22976439e-03 -9.73587937e-03 7.41309192e+00] [ 9.22976480e-03 9.99957404e-01 -4.48898600e-05 4.56501815e-02] [ 9.73587898e-03 -4.49740564e-05 9.99952604e-01 1.18275106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.36864 meters Centerline goodness : 0.998375 with order 1 Centerline is valid? [True, True] Translation: X:7.47, Y:0.04, Z:0.12 [[ 9.99894594e-01 -1.07709510e-02 -9.73587184e-03 7.47156073e+00] [ 1.07710091e-02 9.99941990e-01 -4.64682934e-05 4.18140151e-02] [ 9.73580757e-03 -5.84017686e-05 9.99952604e-01 1.20125756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.428639999999998 meters Centerline goodness : 0.996948 with order 1 Centerline is valid? [True, True] Translation: X:7.53, Y:0.04, Z:0.12 [[ 9.99925386e-01 -7.37807017e-03 -9.73586563e-03 7.52998886e+00] [ 7.37795510e-03 9.99972781e-01 -4.77352023e-05 3.75936732e-02] [ 9.73595282e-03 -2.40991389e-05 9.99952604e-01 1.23183317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.488639999999998 meters Centerline goodness : 0.998620 with order 1 Centerline is valid? [True, True] Translation: X:7.59, Y:0.03, Z:0.12 [[ 9.99862944e-01 -1.33905001e-02 -9.73585918e-03 7.58960130e+00] [ 1.33906576e-02 9.99910340e-01 -4.90148316e-05 2.90865704e-02] [ 9.73564260e-03 -8.13614425e-05 9.99952604e-01 1.18226933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.548639999999999 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:7.65, Y:0.03, Z:0.10 [[ 9.99916298e-01 -8.52118534e-03 -9.73585596e-03 7.64863682e+00] [ 8.52110585e-03 9.99963693e-01 -4.96465494e-05 2.92800641e-02] [ 9.73592553e-03 -3.33178653e-05 9.99952604e-01 1.00778237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.608639999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:7.71, Y:0.02, Z:0.10 [[ 9.99944553e-01 -4.01295633e-03 -9.73584944e-03 7.70647604e+00] [ 4.01265101e-03 9.99991948e-01 -5.08948417e-05 2.37332297e-02] [ 9.73597528e-03 1.18254538e-05 9.99952604e-01 1.01618830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.668639999999998 meters Centerline goodness : 0.998427 with order 1 Centerline is valid? [True, True] Translation: X:7.77, Y:0.03, Z:0.12 [[ 9.99950189e-01 -2.19839194e-03 -9.73582045e-03 7.76531071e+00] [ 2.19795148e-03 9.99997583e-01 -5.59403204e-05 2.52608892e-02] [ 9.73591989e-03 3.45386730e-05 9.99952604e-01 1.22519354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.728639999999999 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:7.82, Y:0.03, Z:0.12 [[ 9.99950843e-01 1.87774644e-03 -9.73579296e-03 7.82367073e+00] [-1.87842324e-03 9.99998234e-01 -6.03732831e-05 2.52984252e-02] [ 9.73566240e-03 7.86582551e-05 9.99952604e-01 1.21327236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78864 meters Centerline goodness : 0.998324 with order 1 Centerline is valid? [True, True] Translation: X:7.88, Y:0.02, Z:0.12 [[ 9.99951747e-01 1.31128291e-03 -9.73575822e-03 7.88255065e+00] [-1.31198311e-03 9.99999137e-01 -6.55336487e-05 2.41390915e-02] [ 9.73566389e-03 7.83036368e-05 9.99952604e-01 1.24835018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.848639999999998 meters Centerline goodness : 0.998327 with order 1 Centerline is valid? [True, True] Translation: X:7.94, Y:0.02, Z:0.13 [[ 9.99952596e-01 -1.45279196e-04 -9.73574930e-03 7.94142586e+00] [ 1.44635373e-04 9.99999987e-01 -6.68338543e-05 2.01438079e-02] [ 9.73575888e-03 6.54225524e-05 9.99952604e-01 1.25217239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.908639999999998 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:8.00, Y:0.02, Z:0.11 [[ 9.99947733e-01 3.12186321e-03 -9.73574020e-03 8.00017986e+00] [-3.12267452e-03 9.99995122e-01 -6.81330359e-05 2.12101354e-02] [ 9.73548001e-03 9.85310227e-05 9.99952604e-01 1.06743039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.968639999999999 meters Centerline goodness : 0.997336 with order 1 Centerline is valid? [True, True] Translation: X:8.06, Y:0.02, Z:0.13 [[ 9.99893271e-01 1.08932136e-02 -9.73570629e-03 8.05914643e+00] [-1.08944374e-02 9.99940651e-01 -7.26761682e-05 2.43347071e-02] [ 9.73433681e-03 1.78733455e-04 9.99952604e-01 1.29938662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.028639999999998 meters Centerline goodness : 0.997295 with order 1 Centerline is valid? [True, True] Translation: X:8.12, Y:0.03, Z:0.13 [[ 9.99800089e-01 1.74642217e-02 -9.73567363e-03 8.11787332e+00] [-1.74657972e-02 9.99847458e-01 -7.68155853e-05 2.96114290e-02] [ 9.73284701e-03 2.46841530e-04 9.99952604e-01 1.29641257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.088639999999998 meters Centerline goodness : 0.996655 with order 1 Centerline is valid? [True, True] Translation: X:8.18, Y:0.03, Z:0.13 [[ 9.99745711e-01 2.03403901e-02 -9.73563613e-03 8.17741279e+00] [-2.03421455e-02 9.99793074e-01 -8.13053023e-05 3.45439238e-02] [ 9.73196780e-03 2.79328354e-04 9.99952604e-01 1.29676287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.148639999999999 meters Centerline goodness : 0.997441 with order 1 Centerline is valid? [True, True] Translation: X:8.24, Y:0.04, Z:0.13 [[ 9.99744865e-01 2.03819370e-02 -9.73563065e-03 8.23593757e+00] [-2.03837007e-02 9.99792227e-01 -8.19568827e-05 4.36389965e-02] [ 9.73193741e-03 2.80384154e-04 9.99952604e-01 1.26315140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.208639999999999 meters Centerline goodness : 0.997442 with order 1 Centerline is valid? [True, True] Translation: X:8.29, Y:0.05, Z:0.13 [[ 9.99770963e-01 1.90588321e-02 -9.73559018e-03 8.29446305e+00] [-1.90605774e-02 9.99818327e-01 -8.65115588e-05 4.93115094e-02] [ 9.73217267e-03 2.72057715e-04 9.99952604e-01 1.26531326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.268639999999998 meters Centerline goodness : 0.996217 with order 1 Centerline is valid? [True, True] Translation: X:8.35, Y:0.06, Z:0.13 [[ 9.99827261e-01 1.58325062e-02 -9.73554795e-03 8.35270463e+00] [-1.58341427e-02 9.99874628e-01 -9.10278149e-05 5.50578166e-02] [ 9.73288619e-03 2.45166146e-04 9.99952604e-01 1.30923688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.328639999999998 meters Centerline goodness : 0.996989 with order 1 Centerline is valid? [True, True] Translation: X:8.41, Y:0.06, Z:0.13 [[ 9.99838066e-01 1.51348216e-02 -9.73549647e-03 8.41137625e+00] [-1.51364757e-02 9.99885432e-01 -9.62359465e-05 5.87042093e-02] [ 9.73292458e-03 2.43581468e-04 9.99952604e-01 1.31204188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.388639999999999 meters Centerline goodness : 0.997201 with order 1 Centerline is valid? [True, True] Translation: X:8.47, Y:0.07, Z:0.13 [[ 9.99824801e-01 1.59871540e-02 -9.73545396e-03 8.46968554e+00] [-1.59888886e-02 9.99872165e-01 -1.00359014e-04 6.74189358e-02] [ 9.73260497e-03 2.56000519e-04 9.99952604e-01 1.32447896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.448639999999997 meters Centerline goodness : 0.995173 with order 1 Centerline is valid? [True, True] Translation: X:8.53, Y:0.07, Z:0.14 [[ 9.99844221e-01 1.47226290e-02 -9.73540090e-03 8.52858646e+00] [-1.47243514e-02 9.99891585e-01 -1.05266255e-04 7.14201947e-02] [ 9.73279565e-03 2.48597321e-04 9.99952604e-01 1.36885606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.508639999999998 meters Centerline goodness : 0.998035 with order 1 Centerline is valid? [True, True] Translation: X:8.59, Y:0.07, Z:0.13 [[ 9.99845159e-01 1.46588134e-02 -9.73538723e-03 8.58850284e+00] [-1.46605449e-02 9.99892523e-01 -1.06516378e-04 7.45887434e-02] [ 9.73277949e-03 2.49225967e-04 9.99952604e-01 1.31576959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.568639999999998 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:8.65, Y:0.08, Z:0.13 [[ 9.99847376e-01 1.45068004e-02 -9.73538015e-03 8.64761628e+00] [-1.45085310e-02 9.99894740e-01 -1.07159339e-04 8.05455277e-02] [ 9.73280086e-03 2.48389048e-04 9.99952604e-01 1.29101118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.628639999999999 meters Centerline goodness : 0.997689 with order 1 Centerline is valid? [True, True] Translation: X:8.71, Y:0.08, Z:0.14 [[ 9.99853746e-01 1.40609167e-02 -9.73532895e-03 8.70681312e+00] [-1.40626696e-02 9.99901110e-01 -1.11624583e-04 8.39903317e-02] [ 9.73279667e-03 2.48512972e-04 9.99952604e-01 1.35276348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.688639999999998 meters Centerline goodness : 0.994639 with order 1 Centerline is valid? [True, True] Translation: X:8.77, Y:0.09, Z:0.14 [[ 9.99847366e-01 1.45075370e-02 -9.73527901e-03 8.76715776e+00] [-1.45093519e-02 9.99894727e-01 -1.15822319e-04 8.72050127e-02] [ 9.73257385e-03 2.57057230e-04 9.99952604e-01 1.40216218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.748639999999998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:8.83, Y:0.09, Z:0.12 [[ 9.99837591e-01 1.51662933e-02 -9.73527519e-03 8.82719222e+00] [-1.51681426e-02 9.99884950e-01 -1.16142272e-04 8.86753951e-02] [ 9.73239370e-03 2.63789452e-04 9.99952604e-01 1.15765048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.808639999999999 meters Centerline goodness : 0.996755 with order 1 Centerline is valid? [True, True] Translation: X:8.89, Y:0.09, Z:0.14 [[ 9.99873706e-01 1.25617155e-02 -9.73527142e-03 8.88531891e+00] [-1.25634444e-02 9.99921070e-01 -1.16457681e-04 9.29221448e-02] [ 9.73304011e-03 2.38751514e-04 9.99952604e-01 1.38486644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.868639999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:8.94, Y:0.10, Z:0.12 [[ 9.99890079e-01 1.11828245e-02 -9.73521627e-03 8.94443223e+00] [-1.11845313e-02 9.99937444e-01 -1.20898805e-04 9.68307632e-02] [ 9.73325528e-03 2.29769347e-04 9.99952604e-01 1.17573393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.928639999999998 meters Centerline goodness : 0.997195 with order 1 Centerline is valid? [True, True] Translation: X:9.00, Y:0.10, Z:0.14 [[ 9.99886503e-01 1.14981808e-02 -9.73515816e-03 9.00304252e+00] [-1.14999465e-02 9.99933866e-01 -1.25409125e-04 1.00427059e-01] [ 9.73307236e-03 2.37348690e-04 9.99952604e-01 1.39291985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.988639999999998 meters Centerline goodness : 0.998232 with order 1 Centerline is valid? [True, True] Translation: X:9.06, Y:0.11, Z:0.14 [[ 9.99912111e-01 8.99993276e-03 -9.73509893e-03 9.06172648e+00] [-9.00162330e-03 9.99959476e-01 -1.29850196e-04 1.05755054e-01] [ 9.73353578e-03 2.17470477e-04 9.99952604e-01 1.38550763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.048639999999999 meters Centerline goodness : 0.997052 with order 1 Centerline is valid? [True, True] Translation: X:9.12, Y:0.11, Z:0.14 [[ 9.99915170e-01 8.65345635e-03 -9.73503651e-03 9.12061205e+00] [-8.65517448e-03 9.99962534e-01 -1.34371891e-04 1.11042944e-01] [ 9.73350900e-03 2.18618932e-04 9.99952604e-01 1.40671366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.108639999999998 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:9.18, Y:0.12, Z:0.14 [[ 9.99934697e-01 5.98604985e-03 -9.73497169e-03 9.17963834e+00] [-5.98768583e-03 9.99982064e-01 -1.38914681e-04 1.18253092e-01] [ 9.73396553e-03 1.97195561e-04 9.99952604e-01 1.42074662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.168639999999998 meters Centerline goodness : 0.993425 with order 1 Centerline is valid? [True, True] Translation: X:9.24, Y:0.12, Z:0.15 [[ 9.99947751e-01 3.11879540e-03 -9.73490498e-03 9.23934229e+00] [-3.12033962e-03 9.99995121e-01 -1.43442099e-04 1.24177441e-01] [ 9.73441012e-03 1.73810814e-04 9.99952604e-01 1.51363475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.228639999999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:9.30, Y:0.13, Z:0.12 [[ 9.99949319e-01 -2.56740538e-03 -9.73489810e-03 9.29999853e+00] [ 2.56612603e-03 9.99996697e-01 -1.43907636e-04 1.28940047e-01] [ 9.73523541e-03 1.18919368e-04 9.99952604e-01 1.22844690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.288639999999997 meters Centerline goodness : 0.994892 with order 1 Centerline is valid? [True, True] Translation: X:9.36, Y:0.14, Z:0.14 [[ 9.99944295e-01 4.07900982e-03 -9.73489823e-03 9.35880098e+00] [-4.08060396e-03 9.99991664e-01 -1.43898788e-04 1.35477166e-01] [ 9.73423011e-03 1.83615037e-04 9.99952604e-01 1.39266500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.348639999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:9.42, Y:0.13, Z:0.12 [[ 9.99750502e-01 -2.01038771e-02 -9.73483053e-03 9.41735332e+00] [ 2.01033857e-02 9.99797896e-01 -1.48341565e-04 1.25321035e-01] [ 9.73584532e-03 -4.73984991e-05 9.99952604e-01 1.24833391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.408639999999998 meters Centerline goodness : 0.947387 with order 1 Centerline is valid? [True, False] Translation: X:9.48, Y:0.14, Z:0.13 [[ 9.99209103e-01 -1.68561645e-03 -3.97281555e-02 9.48377904e+00] [ 6.88549171e-04 9.99684769e-01 -2.50975783e-02 1.43490345e-01] [ 3.97579368e-02 2.50503739e-02 9.98895282e-01 1.30978493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.468639999999999 meters Centerline goodness : 0.998182 with order 1 Centerline is valid? [False, True] Translation: X:9.53, Y:0.15, Z:0.14 [[ 0.99840657 0.01037001 -0.05546875 9.52930486] [-0.01271727 0.99903108 -0.0421327 0.15107602] [ 0.05497809 0.04277097 0.99757108 0.13604931] [ 0. 0. 0. 1. ]] SLAMing on 11.528639999999998 meters Centerline goodness : 0.996808 with order 1 Centerline is valid? [True, True] Translation: X:9.59, Y:0.10, Z:0.14 [[ 9.98435225e-01 1.23681978e-02 -5.45355833e-02 9.58795500e+00] [-1.23190122e-02 9.99923352e-01 1.23798258e-03 1.02096114e-01] [ 5.45467149e-02 -5.64220894e-04 9.98511060e-01 1.35724884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.588639999999998 meters Centerline goodness : 0.927792 with order 3 Centerline is valid? [True, False] Translation: X:9.64, Y:0.11, Z:0.14 [[ 0.99702694 0.02248728 -0.07369945 9.63976166] [-0.02381897 0.99956762 -0.01724037 0.11112501] [ 0.0732799 0.01894456 0.99713147 0.13974636] [ 0. 0. 0. 1. ]] SLAMing on 11.648639999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [False, True] Translation: X:9.61, Y:0.10, Z:0.14 [[ 9.98430334e-01 9.21399245e-03 -5.52446506e-02 9.61097669e+00] [-9.92135522e-03 9.99872104e-01 -1.25436214e-02 9.57989992e-02] [ 5.51220082e-02 1.30720339e-02 9.98394054e-01 1.37156461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.708639999999997 meters Centerline goodness : 0.809131 with order 3 Centerline is valid? [True, False] Translation: X:9.64, Y:0.09, Z:0.14 [[ 0.99824704 0.01004085 -0.05832698 9.63783515] [-0.01123255 0.99973408 -0.02013949 0.09117761] [ 0.05810926 0.02075935 0.99809437 0.13857901] [ 0. 0. 0. 1. ]] SLAMing on 11.768639999999998 meters Centerline goodness : 0.997443 with order 1 Centerline is valid? [False, True] Translation: X:9.67, Y:0.08, Z:0.14 [[ 0.99803501 0.01161563 -0.06157277 9.6665745 ] [-0.01326408 0.99956262 -0.0264316 0.08286494] [ 0.06123882 0.02719637 0.99775256 0.13808721] [ 0. 0. 0. 1. ]] SLAMing on 11.828639999999998 meters Centerline goodness : 0.996164 with order 1 Centerline is valid? [True, True] Translation: X:9.72, Y:0.05, Z:0.14 [[ 9.98075935e-01 1.17256438e-02 -6.08846196e-02 9.72499025e+00] [-1.16529257e-02 9.99930902e-01 1.54930580e-03 5.13925800e-02] [ 6.08985792e-02 -8.36840889e-04 9.98143608e-01 1.41160182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.888639999999999 meters Centerline goodness : 0.996802 with order 1 Centerline is valid? [True, True] Translation: X:9.78, Y:0.04, Z:0.14 [[ 9.98086752e-01 1.07635952e-02 -6.08849777e-02 9.78394461e+00] [-1.06899554e-02 9.99941682e-01 1.53510183e-03 3.99582814e-02] [ 6.08979502e-02 -8.81307103e-04 9.98143608e-01 1.40778315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.948639999999997 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:9.84, Y:0.03, Z:0.12 [[ 9.98100056e-01 9.44539391e-03 -6.08856534e-02 9.84361426e+00] [-9.37096833e-03 9.99954955e-01 1.50781700e-03 2.95745529e-02] [ 6.08971527e-02 -9.34394700e-04 9.98143609e-01 1.18299395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.008639999999998 meters Centerline goodness : 0.993299 with order 1 Centerline is valid? [True, True] Translation: X:9.90, Y:0.02, Z:0.15 [[ 9.98095479e-01 9.91315665e-03 -6.08863139e-02 9.90118855e+00] [-9.84125693e-03 9.99950477e-01 1.48065579e-03 1.95343431e-02] [ 6.08979767e-02 -8.78637990e-04 9.98143609e-01 1.53315886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.068639999999998 meters Centerline goodness : 0.993497 with order 1 Centerline is valid? [True, True] Translation: X:9.96, Y:0.01, Z:0.16 [[ 9.98121559e-01 6.79748948e-03 -6.08863429e-02 9.96168674e+00] [-6.71987238e-03 9.99976327e-01 1.47946258e-03 1.00348168e-02] [ 6.08949582e-02 -1.06753504e-03 9.98143609e-01 1.55230618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.128639999999997 meters Centerline goodness : 0.977504 with order 1 Centerline is valid? [True, True] Translation: X:10.02, Y:0.03, Z:0.13 [[ 9.94297443e-01 8.75525399e-02 -6.08863429e-02 1.00232729e+01] [-8.76252826e-02 9.96152409e-01 1.47946258e-03 2.50206952e-02] [ 6.07816079e-02 3.86415715e-03 9.98143609e-01 1.27666247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.188639999999998 meters Centerline goodness : 0.932242 with order 3 Centerline is valid? [True, False] Translation: X:10.02, Y:0.02, Z:0.13 [[ 9.96248428e-01 7.07416239e-02 -4.98466846e-02 1.00156025e+01] [-7.07916226e-02 9.97490833e-01 7.63915230e-04 1.59971655e-02] [ 4.97756516e-02 2.76767834e-03 9.98756589e-01 1.26464465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.248639999999998 meters Centerline goodness : 0.998522 with order 1 Centerline is valid? [False, True] Translation: X:10.01, Y:-0.00, Z:0.13 [[ 9.97628612e-01 5.64537386e-02 -3.93716532e-02 1.00115012e+01] [-5.63999402e-02 9.98405185e-01 2.47668614e-03 -9.60646079e-05] [ 3.94486808e-02 -2.50254070e-04 9.99221566e-01 1.26564879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.308639999999999 meters Centerline goodness : 0.798956 with order 3 Centerline is valid? [True, False] Translation: X:10.03, Y:-0.01, Z:0.13 [[ 9.98420074e-01 4.34469001e-02 -3.56331596e-02 1.00261752e+01] [-4.33916770e-02 9.99055439e-01 2.32200897e-03 -1.38379871e-02] [ 3.57003860e-02 -7.72157818e-04 9.99362240e-01 1.29652468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.368639999999997 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [False, True] Translation: X:10.02, Y:-0.02, Z:0.13 [[ 9.99122853e-01 3.62477510e-02 -2.09672337e-02 1.00200854e+01] [-3.62286573e-02 9.99342694e-01 1.28990345e-03 -2.31131011e-02] [ 2.10002080e-02 -5.29157293e-04 9.99779331e-01 1.29338310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.428639999999998 meters Centerline goodness : 0.998225 with order 1 Centerline is valid? [True, True] Translation: X:10.08, Y:-0.03, Z:0.13 [[ 9.98831992e-01 4.35252345e-02 -2.09810926e-02 1.00775352e+01] [-4.35138553e-02 9.99052324e-01 9.98798000e-04 -2.58138035e-02] [ 2.10046823e-02 -8.46631669e-05 9.99779374e-01 1.30155906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.488639999999998 meters Centerline goodness : 0.997882 with order 1 Centerline is valid? [True, True] Translation: X:10.14, Y:-0.03, Z:0.13 [[ 9.98407159e-01 5.23728648e-02 -2.09816074e-02 1.01364166e+01] [-5.23636680e-02 9.98627593e-01 9.87863578e-04 -3.07634343e-02] [ 2.10045494e-02 1.12383857e-04 9.99779374e-01 1.31285301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.548639999999997 meters Centerline goodness : 0.997980 with order 1 Centerline is valid? [True, True] Translation: X:10.20, Y:-0.03, Z:0.13 [[ 9.98367568e-01 5.31220605e-02 -2.09820597e-02 1.01953347e+01] [-5.31132330e-02 9.98588017e-01 9.78161333e-04 -3.32821889e-02] [ 2.10043954e-02 1.37860477e-04 9.99779374e-01 1.33212226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.608639999999998 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:10.25, Y:-0.03, Z:0.12 [[ 9.98963089e-01 4.04039744e-02 -2.09825061e-02 1.02532964e+01] [-4.03925434e-02 9.99183419e-01 9.68491343e-04 -3.37072553e-02] [ 2.10045031e-02 -1.19950317e-04 9.99779374e-01 1.22282529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.668639999999998 meters Centerline goodness : 0.996010 with order 1 Centerline is valid? [True, True] Translation: X:10.31, Y:-0.04, Z:0.15 [[ 9.98291506e-01 5.45325278e-02 -2.09826617e-02 1.03117309e+01] [-5.45242861e-02 9.98511978e-01 9.65108897e-04 -3.54648443e-02] [ 2.10040688e-02 1.80604632e-04 9.99779374e-01 1.54752901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.728639999999999 meters Centerline goodness : 0.973312 with order 1 Centerline is valid? [True, True] Translation: X:10.37, Y:-0.06, Z:0.13 [[ 9.99101909e-01 -3.68116848e-02 -2.09827600e-02 1.03699661e+01] [ 3.68399705e-02 9.99320714e-01 9.62966748e-04 -6.29088845e-02] [ 2.09330583e-02 -1.73510617e-03 9.99779374e-01 1.32561294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.788639999999997 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:10.43, Y:-0.05, Z:0.12 [[ 9.99723544e-01 1.06092926e-02 -2.09828230e-02 1.04305934e+01] [-1.05914438e-02 9.99943447e-01 9.61591392e-04 -4.64460244e-02] [ 2.09918382e-02 -7.39087164e-04 9.99779374e-01 1.21171910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.848639999999998 meters Centerline goodness : 0.997982 with order 1 Centerline is valid? [True, True] Translation: X:10.49, Y:-0.06, Z:0.14 [[ 9.98927052e-01 4.12851469e-02 -2.09828642e-02 1.04902057e+01] [-4.12740741e-02 9.99147400e-01 9.60692045e-04 -5.63366969e-02] [ 2.10046365e-02 -9.36129826e-05 9.99779374e-01 1.37558916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.908639999999998 meters Centerline goodness : 0.997533 with order 1 Centerline is valid? [True, True] Translation: X:10.55, Y:-0.07, Z:0.14 [[ 9.98942091e-01 4.09196575e-02 -2.09828632e-02 1.05484052e+01] [-4.09085036e-02 9.99162435e-01 9.60712510e-04 -6.56955317e-02] [ 2.10046008e-02 -1.01318626e-04 9.99779374e-01 1.39712078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.968639999999997 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.08, Z:0.15 [[ 9.99766763e-01 5.11075897e-03 -2.09833005e-02 1.06068516e+01] [-5.09192151e-03 9.99986584e-01 9.51066408e-04 -7.97192806e-02] [ 2.09878796e-02 -8.43999266e-04 9.99779374e-01 1.46215571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.028639999999998 meters Centerline goodness : 0.998425 with order 1 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.08, Z:0.14 [[ 9.98991213e-01 3.97020843e-02 -2.09833608e-02 1.06659699e+01] [-3.96908924e-02 9.99211555e-01 9.49734125e-04 -8.27451337e-02] [ 2.10045229e-02 -1.15927731e-04 9.99779374e-01 1.42535337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.088639999999998 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:10.72, Y:-0.09, Z:0.14 [[ 9.99187020e-01 3.44235268e-02 -2.09837980e-02 1.07245070e+01] [-3.44113759e-02 9.99407311e-01 9.39973486e-04 -9.26193585e-02] [ 2.10037183e-02 -2.17127947e-04 9.99779374e-01 1.40948633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.148639999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.78, Y:-0.10, Z:0.14 [[ 9.99214478e-01 3.36168012e-02 -2.09842235e-02 1.07831320e+01] [-3.36046740e-02 9.99434770e-01 9.30375107e-04 -1.02856307e-01] [ 2.10036389e-02 -2.24476285e-04 9.99779374e-01 1.41410037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.208639999999997 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:10.84, Y:-0.11, Z:0.17 [[ 9.99179149e-01 3.46507188e-02 -2.09846409e-02 1.08411214e+01] [-3.46390193e-02 9.99399465e-01 9.20863633e-04 -1.11414377e-01] [ 2.10039475e-02 -1.93220360e-04 9.99779374e-01 1.68146254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.268639999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:10.90, Y:-0.12, Z:0.14 [[ 9.98862182e-01 4.28248643e-02 -2.09850623e-02 1.09004474e+01] [-4.28151717e-02 9.99082595e-01 9.11159999e-04 -1.18133894e-01] [ 2.10048308e-02 -1.16442203e-05 9.99779374e-01 1.44502949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.328639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.12, Z:0.15 [[ 9.98474583e-01 5.10697185e-02 -2.09854828e-02 1.09595518e+01] [-5.10620516e-02 9.98695076e-01 9.01369623e-04 -1.20463263e-01] [ 2.10041310e-02 1.71567147e-04 9.99779374e-01 1.45713050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.388639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.12, Z:0.15 [[ 9.98143703e-01 5.71729023e-02 -2.09858936e-02 1.10178016e+01] [-5.71667867e-02 9.98364244e-01 8.91702091e-04 -1.22971969e-01] [ 2.10025470e-02 3.09649274e-04 9.99779374e-01 1.48224326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.448639999999997 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.12, Z:0.18 [[ 9.98149545e-01 5.70707534e-02 -2.09860415e-02 1.10760640e+01] [-5.70646887e-02 9.98370088e-01 8.88207215e-04 -1.23824006e-01] [ 2.10025267e-02 3.10998296e-04 9.99779374e-01 1.75138268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.508639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.13, Z:0.15 [[ 9.98134975e-01 5.73248678e-02 -2.09864515e-02 1.11357249e+01] [-5.73190652e-02 9.98355524e-01 8.78412267e-04 -1.26437373e-01] [ 2.10022946e-02 3.26149773e-04 9.99779374e-01 1.53520467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.568639999999998 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:11.19, Y:-0.12, Z:0.18 [[ 9.98136424e-01 5.72995926e-02 -2.09865397e-02 1.11944217e+01] [-5.72938288e-02 9.98356975e-01 8.76299298e-04 -1.24351148e-01] [ 2.10022699e-02 3.27732963e-04 9.99779374e-01 1.76915744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.628639999999997 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:11.25, Y:-0.13, Z:0.18 [[ 9.98227303e-01 5.56939088e-02 -2.09866577e-02 1.12521562e+01] [-5.56878499e-02 9.98447846e-01 8.73462647e-04 -1.27331340e-01] [ 2.10027298e-02 2.96787583e-04 9.99779374e-01 1.77538509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.688639999999998 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:11.31, Y:-0.12, Z:0.18 [[ 9.98388764e-01 5.27201676e-02 -2.09871216e-02 1.13098448e+01] [-5.27136891e-02 9.98609295e-01 8.62170408e-04 -1.24624797e-01] [ 2.10033885e-02 2.45527357e-04 9.99779374e-01 1.78953605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.748639999999998 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:11.37, Y:-0.12, Z:0.18 [[ 9.98673233e-01 4.70244065e-02 -2.09875797e-02 1.13688797e+01] [-4.70169076e-02 9.98893731e-01 8.50872621e-04 -1.20506593e-01] [ 2.10043736e-02 1.37027383e-04 9.99779374e-01 1.80088576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.808639999999997 meters Centerline goodness : 0.998376 with order 1 Centerline is valid? [True, True] Translation: X:11.43, Y:-0.12, Z:0.18 [[ 9.98849310e-01 4.31227684e-02 -2.09876941e-02 1.14265754e+01] [-4.31144676e-02 9.99069779e-01 8.48040885e-04 -1.15245689e-01] [ 2.10047408e-02 5.78082058e-05 9.99779374e-01 1.83337594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.868639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.49, Y:-0.11, Z:0.16 [[ 9.98882456e-01 4.23479429e-02 -2.09878958e-02 1.14863322e+01] [-4.23395767e-02 9.99102922e-01 8.43019510e-04 -1.14788614e-01] [ 2.10047682e-02 4.65412252e-05 9.99779374e-01 1.57196609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.928639999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:11.55, Y:-0.11, Z:0.16 [[ 9.99058690e-01 3.79636522e-02 -2.09879806e-02 1.15457556e+01] [-3.79543629e-02 9.99279120e-01 8.40902643e-04 -1.08022355e-01] [ 2.10047745e-02 -4.35256596e-05 9.99779374e-01 1.58284058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.988639999999998 meters Centerline goodness : 0.998177 with order 1 Centerline is valid? [True, True] Translation: X:11.60, Y:-0.11, Z:0.19 [[ 9.99272286e-01 3.18494548e-02 -2.09883654e-02 1.16041547e+01] [-3.18390209e-02 9.99492664e-01 8.31185125e-04 -1.09362589e-01] [ 2.10041901e-02 -1.62331253e-04 9.99779374e-01 1.85046974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.048639999999997 meters Centerline goodness : 0.998276 with order 1 Centerline is valid? [True, True] Translation: X:11.66, Y:-0.11, Z:0.19 [[ 9.99414722e-01 2.70127041e-02 -2.09887451e-02 1.16629695e+01] [-2.70014075e-02 9.99635058e-01 8.21483834e-04 -1.09124099e-01] [ 2.10032760e-02 -2.54277378e-04 9.99779375e-01 1.87051128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.108639999999998 meters Centerline goodness : 0.997587 with order 1 Centerline is valid? [True, True] Translation: X:11.72, Y:-0.11, Z:0.19 [[ 9.99379404e-01 2.82889457e-02 -2.09891238e-02 1.17229767e+01] [-2.82781361e-02 9.99599764e-01 8.11691760e-04 -1.09361898e-01] [ 2.10036851e-02 -2.17654727e-04 9.99779375e-01 1.91119830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.168639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:11.78, Y:-0.11, Z:0.16 [[ 9.99221910e-01 3.33920618e-02 -2.09891506e-02 1.17836193e+01] [-3.33823922e-02 9.99442324e-01 8.10999550e-04 -1.08681509e-01] [ 2.10045264e-02 -1.09700464e-04 9.99779375e-01 1.63742362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.228639999999997 meters Centerline goodness : 0.997488 with order 1 Centerline is valid? [True, True] Translation: X:11.84, Y:-0.11, Z:0.19 [[ 9.99013700e-01 3.91290379e-02 -2.09891774e-02 1.18422694e+01] [-3.91206486e-02 9.99234166e-01 8.10305806e-04 -1.10641315e-01] [ 2.10048096e-02 1.16036301e-05 9.99779375e-01 1.91475085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.288639999999997 meters Centerline goodness : 0.998179 with order 1 Centerline is valid? [True, True] Translation: X:11.90, Y:-0.11, Z:0.19 [[ 9.99089551e-01 3.71417349e-02 -2.09895184e-02 1.19011118e+01] [-3.71330947e-02 9.99310007e-01 8.01373956e-04 -1.13290096e-01] [ 2.10048002e-02 -2.12385728e-05 9.99779375e-01 1.89818413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.348639999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.12, Z:0.17 [[ 9.99176391e-01 3.47269920e-02 -2.09898908e-02 1.19596562e+01] [-3.47180265e-02 9.99396834e-01 7.91497799e-04 -1.16950008e-01] [ 2.10047167e-02 -6.21183305e-05 9.99779375e-01 1.69209972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.408639999999998 meters Centerline goodness : 0.998079 with order 1 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.12, Z:0.20 [[ 9.99195155e-01 3.41825978e-02 -2.09902944e-02 1.20182912e+01] [-3.41737402e-02 9.99415602e-01 7.80644787e-04 -1.19745960e-01] [ 2.10047122e-02 -6.26996203e-05 9.99779375e-01 1.95433369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.468639999999997 meters Centerline goodness : 0.998228 with order 1 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.12, Z:0.19 [[ 9.99171095e-01 3.48785811e-02 -2.09906297e-02 1.20771973e+01] [-3.48700687e-02 9.99391556e-01 7.71522968e-04 -1.22054167e-01] [ 2.10047677e-02 -3.89387496e-05 9.99779375e-01 1.94812738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.528639999999998 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.12, Z:0.19 [[ 9.99107155e-01 3.66642989e-02 -2.09909869e-02 1.21359328e+01] [-3.66563873e-02 9.99327639e-01 7.61679917e-04 -1.21546643e-01] [ 2.10047998e-02 8.45388941e-06 9.99779375e-01 1.91923764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.588639999999998 meters Centerline goodness : 0.998131 with order 1 Centerline is valid? [True, True] Translation: X:12.19, Y:-0.13, Z:0.20 [[ 9.99219045e-01 3.34763019e-02 -2.09913439e-02 1.21943440e+01] [-3.34678963e-02 9.99439510e-01 7.51709155e-04 -1.25970834e-01] [ 2.10047429e-02 -4.85859819e-05 9.99779375e-01 1.96526471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.648639999999997 meters Centerline goodness : 0.996798 with order 1 Centerline is valid? [True, True] Translation: X:12.25, Y:-0.13, Z:0.20 [[ 9.99309264e-01 3.06651971e-02 -2.09914444e-02 1.22526774e+01] [-3.06562304e-02 9.99529707e-01 7.48893121e-04 -1.28373845e-01] [ 2.10045372e-02 -1.04857278e-04 9.99779375e-01 2.00710321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.708639999999997 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:12.31, Y:-0.13, Z:0.18 [[ 9.99147389e-01 3.55504978e-02 -2.09918132e-02 1.23122104e+01] [-3.55428293e-02 9.99367881e-01 7.38408395e-04 -1.27848110e-01] [ 2.10047947e-02 8.32961324e-06 9.99779375e-01 1.75799106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.768639999999998 meters Centerline goodness : 0.997635 with order 1 Centerline is valid? [True, True] Translation: X:12.37, Y:-0.13, Z:0.20 [[ 9.99149780e-01 3.54830562e-02 -2.09921477e-02 1.23704148e+01] [-3.54755753e-02 9.99370278e-01 7.28774399e-04 -1.30917376e-01] [ 2.10047876e-02 1.65537346e-05 9.99779375e-01 2.01021269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.828639999999998 meters Centerline goodness : 0.998326 with order 1 Centerline is valid? [True, True] Translation: X:12.43, Y:-0.13, Z:0.20 [[ 9.98993493e-01 3.96398483e-02 -2.09924818e-02 1.24295097e+01] [-3.96334898e-02 9.99214026e-01 7.19018108e-04 -1.28628139e-01] [ 2.10044840e-02 1.13710905e-04 9.99779375e-01 2.01239271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.888639999999997 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:12.49, Y:-0.12, Z:0.20 [[ 9.98724138e-01 4.59281865e-02 -2.09928123e-02 1.24880869e+01] [-4.59234221e-02 9.98944711e-01 7.09236862e-04 -1.24200188e-01] [ 2.10032328e-02 2.55729806e-04 9.99779375e-01 2.00705335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.948639999999997 meters Centerline goodness : 0.998523 with order 1 Centerline is valid? [True, True] Translation: X:12.55, Y:-0.12, Z:0.20 [[ 9.98621637e-01 4.81052509e-02 -2.09931372e-02 1.25467771e+01] [-4.81011723e-02 9.98842224e-01 6.99484354e-04 -1.19727553e-01] [ 2.10024808e-02 3.11274300e-04 9.99779375e-01 2.01185150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.008639999999998 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:12.61, Y:-0.12, Z:0.20 [[ 9.98705845e-01 4.63239572e-02 -2.09934641e-02 1.26054125e+01] [-4.63196942e-02 9.98926429e-01 6.89534109e-04 -1.17128314e-01] [ 2.10028680e-02 2.83769091e-04 9.99779375e-01 2.03620040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.068639999999997 meters Centerline goodness : 0.997290 with order 1 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.11, Z:0.21 [[ 9.99010603e-01 3.92055665e-02 -2.09937855e-02 1.26649258e+01] [-3.91999404e-02 9.99231156e-01 6.79605143e-04 -1.14952788e-01] [ 2.10042888e-02 1.44022395e-04 9.99779375e-01 2.12502165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.128639999999997 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:12.73, Y:-0.12, Z:0.21 [[ 9.99045827e-01 3.82974467e-02 -2.09938264e-02 1.27258484e+01] [-3.82916467e-02 9.99266376e-01 6.78338678e-04 -1.17321633e-01] [ 2.10044035e-02 1.26196758e-04 9.99779375e-01 2.05486226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.188639999999998 meters Centerline goodness : 0.998417 with order 1 Centerline is valid? [True, True] Translation: X:12.79, Y:-0.12, Z:0.21 [[ 9.98950988e-01 4.06962267e-02 -2.09938278e-02 1.27858940e+01] [-4.06909572e-02 9.99171550e-01 6.78296093e-04 -1.15033118e-01] [ 2.10040395e-02 1.76674394e-04 9.99779375e-01 2.12104601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.248639999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:12.85, Y:-0.11, Z:0.19 [[ 9.98501238e-01 5.05424231e-02 -2.09938504e-02 1.28464647e+01] [-5.05393430e-02 9.98721841e-01 6.77594897e-04 -1.12572102e-01] [ 2.10012642e-02 3.84436063e-04 9.99779375e-01 1.92122124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.308639999999997 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:12.90, Y:-0.11, Z:0.21 [[ 9.98441370e-01 5.17115885e-02 -2.09938730e-02 1.29047239e+01] [-5.17087814e-02 9.98661977e-01 6.76895018e-04 -1.11042971e-01] [ 2.10007860e-02 4.09727599e-04 9.99779375e-01 2.09848330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.368639999999997 meters Centerline goodness : 0.998719 with order 1 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.11, Z:0.21 [[ 9.98090347e-01 5.80939286e-02 -2.09941807e-02 1.29633940e+01] [-5.80927356e-02 9.98310968e-01 6.67211598e-04 -1.05986311e-01] [ 2.09974818e-02 5.53671934e-04 9.99779375e-01 2.13824501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.428639999999998 meters Centerline goodness : 0.976943 with order 1 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.13, Z:0.19 [[ 9.99762977e-01 -5.76381517e-03 -2.09944882e-02 1.30221570e+01] [ 5.77888902e-03 9.99983086e-01 6.57392026e-04 -1.26472337e-01] [ 2.09903440e-02 -7.78561027e-04 9.99779375e-01 1.88240950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.488639999999997 meters Centerline goodness : 0.922925 with order 3 Centerline is valid? [True, False] Translation: X:12.94, Y:-0.08, Z:0.20 [[ 9.99997975e-01 -1.40989769e-03 -1.43583525e-03 1.29446135e+01] [ 1.34385285e-03 9.98985919e-01 -4.50036380e-02 -7.53207418e-02] [ 1.49782972e-03 4.50016174e-02 9.98985791e-01 1.97562985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.548639999999997 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [False, True] Translation: X:12.90, Y:-0.06, Z:0.20 [[ 9.99986464e-01 -5.14401292e-03 -7.82088443e-04 1.29010473e+01] [ 5.09584200e-03 9.98606953e-01 -5.25184301e-02 -6.35344895e-02] [ 1.05115444e-03 5.25137338e-02 9.98619649e-01 1.97820558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.608639999999998 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:12.96, Y:-0.10, Z:0.18 [[ 9.99891899e-01 -1.43019963e-02 -3.41217635e-03 1.29617411e+01] [ 1.43014955e-02 9.99897714e-01 -1.71131658e-04 -9.62868464e-02] [ 3.41427485e-03 1.22313934e-04 9.99994164e-01 1.84891948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.668639999999998 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.08, Z:0.19 [[ 9.99736695e-01 -2.26913652e-02 -3.41209764e-03 1.30212044e+01] [ 2.26909078e-02 9.99742513e-01 -1.72686884e-04 -8.30953348e-02] [ 3.41513757e-03 9.52178213e-05 9.99994164e-01 1.85865940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.728639999999997 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.07, Z:0.19 [[ 9.99549166e-01 -2.98299013e-02 -3.41208610e-03 1.30819218e+01] [ 2.98294847e-02 9.99554987e-01 -1.72914475e-04 -7.38430404e-02] [ 3.41572570e-03 7.10557489e-05 9.99994164e-01 1.87271286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.788639999999997 meters Centerline goodness : 0.990322 with order 1 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.05, Z:0.17 [[ 9.99852816e-01 1.68137964e-02 -3.41209758e-03 1.31422813e+01] [-1.68144832e-02 9.99858612e-01 -1.72687612e-04 -4.74567984e-02] [ 3.40871162e-03 2.30034852e-04 9.99994164e-01 1.74874297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.848639999999998 meters Centerline goodness : 0.956919 with order 3 Centerline is valid? [True, True] Translation: X:13.10, Y:-0.12, Z:0.16 [[ 9.88526769e-01 -1.51007231e-01 -3.41210906e-03 1.31015192e+01] [ 1.51007526e-01 9.88532598e-01 -1.72460527e-04 -1.19637735e-01] [ 3.39902382e-03 -3.44772300e-04 9.99994164e-01 1.64289638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.908639999999997 meters Centerline goodness : 0.998134 with order 1 Centerline is valid? [True, True] Translation: X:13.24, Y:-0.05, Z:0.19 [[ 9.98795440e-01 -4.89550455e-02 -3.32768785e-03 1.32398404e+01] [ 4.89507648e-02 9.98800272e-01 -1.35594391e-03 -5.13718577e-02] [ 3.39007583e-03 1.19141773e-03 9.99993544e-01 1.93581754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.968639999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:13.30, Y:-0.05, Z:0.17 [[ 9.98743992e-01 -4.99890823e-02 -3.39553028e-03 1.33022652e+01] [ 4.99886942e-02 9.98749764e-01 -1.99126732e-04 -4.55660101e-02] [ 3.40123922e-03 2.91385024e-05 9.99994215e-01 1.74528761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.028639999999996 meters Centerline goodness : 0.996560 with order 1 Centerline is valid? [True, True] Translation: X:13.36, Y:-0.04, Z:0.20 [[ 9.98482443e-01 -5.49661851e-02 -3.39556266e-03 1.33640228e+01] [ 5.49658276e-02 9.98488216e-01 -1.98572968e-04 -4.05091906e-02] [ 3.40134410e-03 1.16317103e-05 9.99994215e-01 1.98015197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.088639999999998 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.04, Z:0.19 [[ 9.98203300e-01 -5.98217393e-02 -3.39565223e-03 1.34257950e+01] [ 5.98214152e-02 9.98209076e-01 -1.97029338e-04 -3.66098608e-02] [ 3.40135751e-03 -6.45738654e-06 9.99994215e-01 1.91149687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.148639999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.04, Z:0.17 [[ 9.97906385e-01 -6.45857280e-02 -3.39573451e-03 1.34872906e+01] [ 6.45854364e-02 9.97912162e-01 -1.95600939e-04 -3.60149322e-02] [ 3.40127779e-03 -2.41235684e-05 9.99994215e-01 1.73627702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.03, Z:0.17 [[ 9.98042219e-01 -6.24515695e-02 -3.39574701e-03 1.35492467e+01] [ 6.24512662e-02 9.98047995e-01 -1.95383610e-04 -3.45714285e-02] [ 3.40132051e-03 -1.70676091e-05 9.99994215e-01 1.74287294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.268639999999998 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.03, Z:0.20 [[ 9.98032490e-01 -6.26068520e-02 -3.39583219e-03 1.36105055e+01] [ 6.26065547e-02 9.98038267e-01 -1.93891712e-04 -3.48444163e-02] [ 3.40130943e-03 -1.90911258e-05 9.99994215e-01 1.96162509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.328639999999996 meters Centerline goodness : 0.996461 with order 1 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.03, Z:0.20 [[ 9.98052489e-01 -6.22872191e-02 -3.39584457e-03 1.36724754e+01] [ 6.22869207e-02 9.98058266e-01 -1.93674746e-04 -3.17271122e-02] [ 3.40131420e-03 -1.82191386e-05 9.99994215e-01 2.00417259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.74, Y:-0.03, Z:0.17 [[ 9.97992520e-01 -6.32407842e-02 -3.39593241e-03 1.37351644e+01] [ 6.32404966e-02 9.97998298e-01 -1.92122010e-04 -3.40597677e-02] [ 3.40128471e-03 -2.30241235e-05 9.99994215e-01 1.74821887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.448639999999997 meters Centerline goodness : 0.997299 with order 1 Centerline is valid? [True, True] Translation: X:13.80, Y:-0.03, Z:0.20 [[ 9.97747223e-01 -6.69996007e-02 -3.39601789e-03 1.37970467e+01] [ 6.69993400e-02 9.97753002e-01 -1.90599006e-04 -3.24490530e-02] [ 3.40115710e-03 -3.73613287e-05 9.99994215e-01 1.98150995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.508639999999996 meters Centerline goodness : 0.997934 with order 1 Centerline is valid? [True, True] Translation: X:13.86, Y:-0.03, Z:0.19 [[ 9.97735657e-01 -6.71716123e-02 -3.39609530e-03 1.38599424e+01] [ 6.71713573e-02 9.97741436e-01 -1.89209493e-04 -3.48628077e-02] [ 3.40113451e-03 -3.93392735e-05 9.99994215e-01 1.94924945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56864 meters Centerline goodness : 0.997540 with order 1 Centerline is valid? [True, True] Translation: X:13.92, Y:-0.04, Z:0.20 [[ 9.97698457e-01 -6.77218871e-02 -3.39619060e-03 1.39217458e+01] [ 6.77216412e-02 9.97704237e-01 -1.87483172e-04 -3.54723248e-02] [ 3.40109047e-03 -4.29439298e-05 9.99994215e-01 1.98487293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.628639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:13.98, Y:-0.04, Z:0.17 [[ 9.97893777e-01 -6.47802042e-02 -3.39620909e-03 1.39847401e+01] [ 6.47799424e-02 9.97899556e-01 -1.87147674e-04 -3.54173254e-02] [ 3.40119901e-03 -3.32527301e-05 9.99994215e-01 1.74395266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.688639999999996 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.03, Z:0.19 [[ 9.98251176e-01 -5.90174138e-02 -3.39630580e-03 1.40456108e+01] [ 5.90171247e-02 9.98256953e-01 -1.85375937e-04 -3.38015565e-02] [ 3.40132628e-03 -1.53884553e-05 9.99994215e-01 1.93261505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.748639999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.03, Z:0.18 [[ 9.98348633e-01 -5.73451917e-02 -3.39632150e-03 1.41075735e+01] [ 5.73448938e-02 9.98354410e-01 -1.85087757e-04 -3.12083257e-02] [ 3.40134644e-03 -9.97958632e-06 9.99994215e-01 1.76285429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.808639999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.03, Z:0.18 [[ 9.98362062e-01 -5.71109257e-02 -3.39633951e-03 1.41709441e+01] [ 5.71106276e-02 9.98367839e-01 -1.84756715e-04 -2.80231615e-02] [ 3.40134776e-03 -9.51298632e-06 9.99994215e-01 1.76744355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.868639999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.03, Z:0.18 [[ 9.98350160e-01 -5.73185951e-02 -3.39643300e-03 1.42330476e+01] [ 5.73183042e-02 9.98355938e-01 -1.83021850e-04 -2.57586492e-02] [ 3.40133960e-03 -1.19578866e-05 9.99994215e-01 1.75891233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.928639999999998 meters Centerline goodness : 0.994887 with order 1 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.02, Z:0.20 [[ 9.98422447e-01 -5.60453463e-02 -3.39651433e-03 1.42949515e+01] [ 5.60450532e-02 9.98428224e-01 -1.81499856e-04 -2.05944324e-02] [ 3.40134799e-03 -9.14429511e-06 9.99994215e-01 2.03855169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.988639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.36, Y:-0.01, Z:0.18 [[ 9.98670380e-01 -5.14386646e-02 -3.39659566e-03 1.43567815e+01] [ 5.14383500e-02 9.98676156e-01 -1.79964700e-04 -9.80705035e-03] [ 3.40135624e-03 5.01013869e-06 9.99994215e-01 1.75401798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04864 meters Centerline goodness : 0.992139 with order 1 Centerline is valid? [True, True] Translation: X:14.42, Y:-0.01, Z:0.21 [[ 9.98405148e-01 -5.63526711e-02 -3.39667748e-03 1.44183125e+01] [ 5.63523903e-02 9.98410926e-01 -1.78407093e-04 -6.60451285e-03] [ 3.40133362e-03 -1.32883349e-05 9.99994215e-01 2.07845102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.108639999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:14.48, Y:-0.00, Z:0.18 [[ 9.98043353e-01 -6.24333900e-02 -3.39670266e-03 1.44789803e+01] [ 6.24331460e-02 9.98049132e-01 -1.77926267e-04 -2.66899623e-04] [ 3.40118469e-03 -3.44887048e-05 9.99994215e-01 1.75359201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.168639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.54, Y:0.00, Z:0.18 [[ 9.97689023e-01 -6.78607103e-02 -3.39670824e-03 1.45416154e+01] [ 6.78604981e-02 9.97694804e-01 -1.77819707e-04 2.52104001e-03] [ 3.40094513e-03 -5.30935439e-05 9.99994215e-01 1.76400437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:14.60, Y:0.00, Z:0.18 [[ 9.97359256e-01 -7.25463799e-02 -3.39678540e-03 1.46038918e+01] [ 7.25461999e-02 9.97365037e-01 -1.76333337e-04 4.83652417e-03] [ 3.40062734e-03 -7.05561873e-05 9.99994215e-01 1.76207835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.288639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.67, Y:0.00, Z:0.18 [[ 9.96974906e-01 -7.76498397e-02 -3.39686084e-03 1.46666759e+01] [ 7.76496943e-02 9.96980689e-01 -1.74867930e-04 1.53920258e-03] [ 3.40018313e-03 -8.94262677e-05 9.99994215e-01 1.75880840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.348639999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.00, Z:0.18 [[ 9.96653575e-01 -8.16707533e-02 -3.39693408e-03 1.47295500e+01] [ 8.16706361e-02 9.96659359e-01 -1.73433444e-04 -1.40903420e-03] [ 3.39975058e-03 -1.04576705e-04 9.99994215e-01 1.76093149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40864 meters Centerline goodness : 0.997490 with order 1 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.01, Z:0.20 [[ 9.96642714e-01 -8.18031846e-02 -3.39696008e-03 1.47913259e+01] [ 8.18030699e-02 9.96648498e-01 -1.72922722e-04 -5.15393926e-03] [ 3.39972079e-03 -1.05539592e-04 9.99994215e-01 2.02711991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.468639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.01, Z:0.18 [[ 9.97031447e-01 -7.69204442e-02 -3.39697053e-03 1.48528578e+01] [ 7.69203018e-02 9.97037230e-01 -1.72717185e-04 -5.80100291e-03] [ 3.40019157e-03 -8.90915337e-05 9.99994215e-01 1.76398170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.528639999999996 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:14.91, Y:-0.01, Z:0.20 [[ 9.97470150e-01 -7.10053535e-02 -3.39698107e-03 1.49144259e+01] [ 7.10051776e-02 9.97475932e-01 -1.72509515e-04 -1.21445195e-02] [ 3.40065596e-03 -6.91301524e-05 9.99994215e-01 1.99346436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.588639999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.01, Z:0.18 [[ 9.97716200e-01 -6.74599491e-02 -3.39699162e-03 1.49759631e+01] [ 6.74597533e-02 9.97721981e-01 -1.72301610e-04 -1.36864703e-02] [ 3.40087667e-03 -5.72521092e-05 9.99994215e-01 1.75268342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.648639999999997 meters Centerline goodness : 0.998815 with order 1 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.01, Z:0.20 [[ 9.98177281e-01 -6.02542657e-02 -3.39699872e-03 1.50374821e+01] [ 6.02540287e-02 9.98183061e-01 -1.72161567e-04 -1.40296001e-02] [ 3.40120004e-03 -3.28350929e-05 9.99994215e-01 1.99802547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.708639999999995 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.01, Z:0.20 [[ 9.98822063e-01 -4.84039885e-02 -3.39700967e-03 1.50992137e+01] [ 4.84036836e-02 9.98827840e-01 -1.71945218e-04 -9.34888056e-03] [ 3.40135066e-03 7.31489640e-06 9.99994215e-01 1.97704774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.768639999999998 meters Centerline goodness : 0.998181 with order 1 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.01, Z:0.20 [[ 9.99115122e-01 -4.19217383e-02 -3.39708751e-03 1.51615413e+01] [ 4.19214012e-02 9.99120897e-01 -1.70393236e-04 -5.31190282e-03] [ 3.40124430e-03 2.78317897e-05 9.99994215e-01 2.00943045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.828639999999996 meters Centerline goodness : 0.998177 with order 1 Centerline is valid? [True, True] Translation: X:15.22, Y:-0.00, Z:0.20 [[ 9.99343605e-01 -3.60668628e-02 -3.39716561e-03 1.52233182e+01] [ 3.60664973e-02 9.99349378e-01 -1.68821626e-04 -9.10400937e-04] [ 3.40104421e-03 4.61869482e-05 9.99994215e-01 2.02797966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88864 meters Centerline goodness : 0.996742 with order 1 Centerline is valid? [True, True] Translation: X:15.29, Y:0.00, Z:0.20 [[ 9.99415867e-01 -3.40056367e-02 -3.39724270e-03 1.52850639e+01] [ 3.40052646e-02 9.99421640e-01 -1.67255924e-04 4.48822759e-03] [ 3.40096551e-03 5.16340870e-05 9.99994215e-01 2.04887193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.948639999999997 meters Centerline goodness : 0.997339 with order 1 Centerline is valid? [True, True] Translation: X:15.35, Y:0.01, Z:0.20 [[ 9.99275581e-01 -3.79047855e-02 -3.39725957e-03 1.53460570e+01] [ 3.79044371e-02 9.99281355e-01 -1.66912548e-04 7.81695907e-03] [ 3.40114493e-03 3.80204213e-05 9.99994215e-01 2.03706213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.008639999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:15.41, Y:0.01, Z:0.18 [[ 9.99223682e-01 -3.92490975e-02 -3.39726519e-03 1.54076545e+01] [ 3.92487573e-02 9.99229457e-01 -1.66798008e-04 1.26871179e-02] [ 3.40119412e-03 3.33300828e-05 9.99994215e-01 1.81100986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06864 meters Centerline goodness : 0.997591 with order 1 Centerline is valid? [True, True] Translation: X:15.47, Y:0.02, Z:0.21 [[ 9.99125806e-01 -4.16663191e-02 -3.39728190e-03 1.54693377e+01] [ 4.16659939e-02 9.99131582e-01 -1.66456920e-04 1.87729538e-02] [ 3.40126729e-03 2.47602769e-05 9.99994215e-01 2.06124315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.128639999999997 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:15.53, Y:0.02, Z:0.20 [[ 9.99101285e-01 -4.22502176e-02 -3.39730376e-03 1.55309973e+01] [ 4.22498974e-02 9.99107061e-01 -1.66009550e-04 2.22764468e-02] [ 3.40128412e-03 2.23246193e-05 9.99994215e-01 2.03932577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.188639999999996 meters Centerline goodness : 0.997934 with order 1 Centerline is valid? [True, True] Translation: X:15.59, Y:0.02, Z:0.20 [[ 9.99064177e-01 -4.31187776e-02 -3.39737478e-03 1.55930015e+01] [ 4.31184674e-02 9.99069953e-01 -1.64543210e-04 2.35285750e-02] [ 3.40130997e-03 1.78996328e-05 9.99994215e-01 2.04347670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.248639999999998 meters Centerline goodness : 0.998624 with order 1 Centerline is valid? [True, True] Translation: X:15.66, Y:0.03, Z:0.20 [[ 9.99071118e-01 -4.29576357e-02 -3.39745030e-03 1.56556979e+01] [ 4.29573299e-02 9.99076895e-01 -1.62968837e-04 2.71992524e-02] [ 3.40131485e-03 1.68720645e-05 9.99994215e-01 2.03573717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.308639999999997 meters Centerline goodness : 0.996656 with order 1 Centerline is valid? [True, True] Translation: X:15.72, Y:0.03, Z:0.21 [[ 9.99167420e-01 -4.06561738e-02 -3.39753714e-03 1.57167228e+01] [ 4.06558609e-02 9.99173196e-01 -1.61138007e-04 3.12039149e-02] [ 3.40127929e-03 2.28740490e-05 9.99994215e-01 2.06022694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.368639999999996 meters Centerline goodness : 0.996704 with order 1 Centerline is valid? [True, True] Translation: X:15.78, Y:0.04, Z:0.21 [[ 9.99201059e-01 -3.98208612e-02 -3.39754790e-03 1.57783729e+01] [ 3.98205443e-02 9.99206835e-01 -1.60910716e-04 3.57000033e-02] [ 3.40126069e-03 2.54899514e-05 9.99994215e-01 2.06199946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.428639999999998 meters Centerline goodness : 0.994930 with order 1 Centerline is valid? [True, True] Translation: X:15.84, Y:0.04, Z:0.21 [[ 9.99519424e-01 -3.08119756e-02 -3.39762100e-03 1.58398943e+01] [ 3.08116119e-02 9.99525197e-01 -1.59352030e-04 3.98501973e-02] [ 3.40091775e-03 5.45892697e-05 9.99994215e-01 2.05426708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.488639999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:15.90, Y:0.04, Z:0.18 [[ 9.99212458e-01 -3.95337760e-02 -3.39763689e-03 1.59009707e+01] [ 3.95334639e-02 9.99218234e-01 -1.59012642e-04 3.86485115e-02] [ 3.40126710e-03 2.45670575e-05 9.99994215e-01 1.79338932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.548639999999995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:15.96, Y:0.04, Z:0.18 [[ 9.99165188e-01 -4.07109737e-02 -3.39765261e-03 1.59629900e+01] [ 4.07106695e-02 9.99170964e-01 -1.58676039e-04 3.74186037e-02] [ 3.40129569e-03 2.02228621e-05 9.99994215e-01 1.79439874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.608639999999998 meters Centerline goodness : 0.997296 with order 1 Centerline is valid? [True, True] Translation: X:16.03, Y:0.04, Z:0.20 [[ 9.99130706e-01 -4.15486266e-02 -3.39772433e-03 1.60252674e+01] [ 4.15483325e-02 9.99136483e-01 -1.57125071e-04 3.83254999e-02] [ 3.40131867e-03 1.58187030e-05 9.99994215e-01 2.04089933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.668639999999996 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:16.09, Y:0.03, Z:0.19 [[ 9.98853168e-01 -4.77577527e-02 -3.39779532e-03 1.60868649e+01] [ 4.77574998e-02 9.98858948e-01 -1.55574711e-04 3.27208354e-02] [ 3.40134815e-03 -6.87391640e-06 9.99994215e-01 1.92435278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72864 meters Centerline goodness : 0.992869 with order 1 Centerline is valid? [True, True] Translation: X:16.15, Y:0.02, Z:0.18 [[ 9.95728935e-01 -9.22623548e-02 -3.39780559e-03 1.61503713e+01] [ 9.22623607e-02 9.95734720e-01 -1.55350115e-04 1.58690840e-02] [ 3.39764596e-03 -1.58802960e-04 9.99994215e-01 1.84112190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.788639999999997 meters Centerline goodness : 0.997738 with order 1 Centerline is valid? [True, True] Translation: X:16.21, Y:0.05, Z:0.21 [[ 9.99708548e-01 -2.39013263e-02 -3.39787623e-03 1.62104913e+01] [ 2.39009416e-02 9.99714320e-01 -1.53789345e-04 4.97533440e-02] [ 3.40058129e-03 7.25320816e-05 9.99994215e-01 2.05578339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.848639999999996 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:16.27, Y:0.05, Z:0.20 [[ 9.99635726e-01 -2.67744122e-02 -3.39789170e-03 1.62704320e+01] [ 2.67740453e-02 9.99641499e-01 -1.53446787e-04 5.42188070e-02] [ 3.40078200e-03 6.24155842e-05 9.99994215e-01 1.96072591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.90864 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:16.33, Y:0.07, Z:0.20 [[ 9.99696420e-01 -2.44033068e-02 -3.39788654e-03 1.63299365e+01] [ 2.44029258e-02 9.99702192e-01 -1.53560820e-04 6.75654300e-02] [ 3.40062202e-03 7.05958293e-05 9.99994215e-01 1.98093546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.968639999999997 meters Centerline goodness : 0.996706 with order 1 Centerline is valid? [True, True] Translation: X:16.39, Y:0.09, Z:0.19 [[ 9.99916125e-01 -1.24979234e-02 -3.39788654e-03 1.63892485e+01] [ 1.24974736e-02 9.99921892e-01 -1.53560820e-04 8.93364086e-02] [ 3.39954033e-03 1.11082943e-04 9.99994215e-01 1.94561953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.028639999999996 meters Centerline goodness : 0.997344 with order 1 Centerline is valid? [True, True] Translation: X:16.45, Y:0.10, Z:0.20 [[ 9.99281970e-01 -3.77359125e-02 -3.39788654e-03 1.64497624e+01] [ 3.77356085e-02 9.99287746e-01 -1.53560820e-04 9.53046336e-02] [ 3.40126114e-03 2.52292426e-05 9.99994215e-01 2.04012238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.088639999999998 meters Centerline goodness : 0.996652 with order 1 Centerline is valid? [True, True] Translation: X:16.51, Y:0.11, Z:0.21 [[ 9.98989378e-01 -4.48182689e-02 -3.39788654e-03 1.65122846e+01] [ 4.48180058e-02 9.98995157e-01 -1.53560820e-04 1.07625757e-01] [ 3.40135453e-03 1.11912949e-06 9.99994215e-01 2.06993610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.148639999999997 meters Centerline goodness : 0.996263 with order 1 Centerline is valid? [True, True] Translation: X:16.57, Y:0.12, Z:0.21 [[ 9.98869112e-01 -4.74230962e-02 -3.39796664e-03 1.65742200e+01] [ 4.74228543e-02 9.98874892e-01 -1.51767514e-04 1.18871821e-01] [ 3.40134085e-03 -9.54539445e-06 9.99994215e-01 2.07557605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.208639999999995 meters Centerline goodness : 0.997102 with order 1 Centerline is valid? [True, True] Translation: X:16.64, Y:0.13, Z:0.20 [[ 9.98760533e-01 -4.96573317e-02 -3.39803510e-03 1.66359739e+01] [ 4.96571080e-02 9.98766314e-01 -1.50218960e-04 1.29563536e-01] [ 3.40130246e-03 -1.87038276e-05 9.99994215e-01 2.03349149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.268639999999998 meters Centerline goodness : 0.994632 with order 1 Centerline is valid? [True, True] Translation: X:16.70, Y:0.14, Z:0.21 [[ 9.98436158e-01 -5.58004544e-02 -3.39805480e-03 1.66968819e+01] [ 5.58002678e-02 9.98441940e-01 -1.49771929e-04 1.35442983e-01] [ 3.40111777e-03 -4.00746586e-05 9.99994215e-01 2.11705947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.328639999999996 meters Centerline goodness : 0.997049 with order 1 Centerline is valid? [True, True] Translation: X:16.76, Y:0.14, Z:0.21 [[ 9.98269085e-01 -5.87136069e-02 -3.39805958e-03 1.67579262e+01] [ 5.87134375e-02 9.98274867e-01 -1.49663393e-04 1.40304903e-01] [ 3.40098475e-03 -5.01074210e-05 9.99994215e-01 2.06932586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.388639999999995 meters Centerline goodness : 0.989858 with order 1 Centerline is valid? [True, True] Translation: X:16.82, Y:0.15, Z:0.21 [[ 9.99065561e-01 -4.30866227e-02 -3.39806435e-03 1.68187548e+01] [ 4.30863632e-02 9.99071340e-01 -1.49555051e-04 1.54434004e-01] [ 3.40135253e-03 3.00506667e-06 9.99994215e-01 2.10026096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.448639999999997 meters Centerline goodness : 0.997196 with order 1 Centerline is valid? [True, True] Translation: X:16.88, Y:0.15, Z:0.21 [[ 9.98154363e-01 -6.06326635e-02 -3.39807411e-03 1.68813082e+01] [ 6.06325064e-02 9.98160146e-01 -1.49332952e-04 1.47876197e-01] [ 3.40087660e-03 -5.69764129e-05 9.99994215e-01 2.08540057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.508639999999996 meters Centerline goodness : 0.996709 with order 1 Centerline is valid? [True, True] Translation: X:16.94, Y:0.15, Z:0.21 [[ 9.97947728e-01 -6.39436074e-02 -3.39809290e-03 1.69437733e+01] [ 6.39434709e-02 9.97953511e-01 -1.48904228e-04 1.47673798e-01] [ 3.40066021e-03 -6.86872184e-05 9.99994215e-01 2.11088856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.56864 meters Centerline goodness : 0.995776 with order 1 Centerline is valid? [True, True] Translation: X:17.01, Y:0.15, Z:0.21 [[ 9.98166234e-01 -6.04369247e-02 -3.39815792e-03 1.70057059e+01] [ 6.04367730e-02 9.98172017e-01 -1.47405334e-04 1.48481634e-01] [ 3.40085486e-03 -5.82386709e-05 9.99994215e-01 2.10039821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.628639999999997 meters Centerline goodness : 0.993759 with order 1 Centerline is valid? [True, True] Translation: X:17.07, Y:0.15, Z:0.22 [[ 9.98081866e-01 -6.18145745e-02 -3.39822217e-03 1.70677586e+01] [ 6.18144359e-02 9.98087649e-01 -1.45908799e-04 1.48028397e-01] [ 3.40074287e-03 -6.44302604e-05 9.99994215e-01 2.15811933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.688639999999996 meters Centerline goodness : 0.994451 with order 1 Centerline is valid? [True, True] Translation: X:17.13, Y:0.15, Z:0.21 [[ 9.98236881e-01 -5.92585921e-02 -3.39823617e-03 1.71290866e+01] [ 5.92584398e-02 9.98242664e-01 -1.45581941e-04 1.48475156e-01] [ 3.40089131e-03 -5.60489110e-05 9.99994215e-01 2.12202326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.748639999999998 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:17.19, Y:0.15, Z:0.18 [[ 9.98506736e-01 -5.45229316e-02 -3.39824534e-03 1.71916505e+01] [ 5.45227526e-02 9.98512518e-01 -1.45367758e-04 1.50355969e-01] [ 3.40111638e-03 -4.01310041e-05 9.99994215e-01 1.84925175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.808639999999997 meters Centerline goodness : 0.995873 with order 1 Centerline is valid? [True, True] Translation: X:17.25, Y:0.15, Z:0.21 [[ 9.98619093e-01 -5.24247907e-02 -3.39826358e-03 1.72539309e+01] [ 5.24246010e-02 9.98624875e-01 -1.44940043e-04 1.50070334e-01] [ 3.40118899e-03 -3.34127176e-05 9.99994215e-01 2.06628933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.868639999999996 meters Centerline goodness : 0.992470 with order 1 Centerline is valid? [True, True] Translation: X:17.31, Y:0.15, Z:0.22 [[ 9.98586252e-01 -5.30466672e-02 -3.39832660e-03 1.73144475e+01] [ 5.30464862e-02 9.98592034e-01 -1.43447050e-04 1.46399783e-01] [ 3.40115126e-03 -3.70250335e-05 9.99994215e-01 2.15037922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.928639999999998 meters Centerline goodness : 0.995477 with order 1 Centerline is valid? [True, True] Translation: X:17.38, Y:0.14, Z:0.21 [[ 9.98640149e-01 -5.20221454e-02 -3.39832660e-03 1.73757892e+01] [ 5.20219585e-02 9.98645931e-01 -1.43447050e-04 1.42958459e-01] [ 3.40118745e-03 -3.35356222e-05 9.99994215e-01 2.09310124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.988639999999997 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:17.44, Y:0.14, Z:0.19 [[ 9.98770296e-01 -4.94605523e-02 -3.39833901e-03 1.74376211e+01] [ 4.94603515e-02 9.98776078e-01 -1.43152451e-04 1.43756535e-01] [ 3.40126011e-03 -2.51066257e-05 9.99994215e-01 1.85617389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.048639999999995 meters Centerline goodness : 0.992975 with order 1 Centerline is valid? [True, True] Translation: X:17.50, Y:0.16, Z:0.20 [[ 9.99846362e-01 -1.71960407e-02 -3.39839710e-03 1.74997937e+01] [ 1.71956581e-02 9.99852134e-01 -1.41759849e-04 1.55158433e-01] [ 3.40033230e-03 8.33003946e-05 9.99994215e-01 1.95267065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.108639999999998 meters Centerline goodness : 0.995725 with order 1 Centerline is valid? [True, True] Translation: X:17.56, Y:0.14, Z:0.21 [[ 9.98803796e-01 -4.87793835e-02 -3.39841981e-03 1.75611405e+01] [ 4.87791854e-02 9.98809577e-01 -1.41213263e-04 1.43918398e-01] [ 3.40126255e-03 -2.47278068e-05 9.99994215e-01 2.10487013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.168639999999996 meters Centerline goodness : 0.995866 with order 1 Centerline is valid? [True, True] Translation: X:17.62, Y:0.14, Z:0.21 [[ 9.98760109e-01 -4.96658441e-02 -3.39841981e-03 1.76237085e+01] [ 4.96656510e-02 9.98765890e-01 -1.41213263e-04 1.44707233e-01] [ 3.40123926e-03 -2.77465584e-05 9.99994215e-01 2.09442363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.228639999999995 meters Centerline goodness : 0.995521 with order 1 Centerline is valid? [True, True] Translation: X:17.69, Y:0.14, Z:0.21 [[ 9.98500385e-01 -5.46391096e-02 -3.39848370e-03 1.76864459e+01] [ 5.46389506e-02 9.98506167e-01 -1.39658718e-04 1.38641536e-01] [ 3.40103776e-03 -4.62402996e-05 9.99994215e-01 2.12018763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.288639999999997 meters Centerline goodness : 0.971110 with order 1 Centerline is valid? [True, True] Translation: X:17.75, Y:0.17, Z:0.20 [[ 9.99720124e-01 2.34120524e-02 -3.39854643e-03 1.77464504e+01] [-2.34126567e-02 9.99725877e-01 -1.38115065e-04 1.71972485e-01] [ 3.39438125e-03 2.17645411e-04 9.99994215e-01 2.01037164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.348639999999996 meters Centerline goodness : 0.995430 with order 1 Centerline is valid? [True, True] Translation: X:17.81, Y:0.13, Z:0.21 [[ 9.99023280e-01 -4.40560579e-02 -3.39855527e-03 1.78068113e+01] [ 4.40558437e-02 9.99029060e-01 -1.37897231e-04 1.33183231e-01] [ 3.40133068e-03 -1.19636759e-05 9.99994215e-01 2.14130234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.40864 meters Centerline goodness : 0.997097 with order 1 Centerline is valid? [True, True] Translation: X:17.87, Y:0.13, Z:0.21 [[ 9.99366295e-01 -3.54324599e-02 -3.39853722e-03 1.78690138e+01] [ 3.54321943e-02 9.99372073e-01 -1.38340477e-04 1.33346834e-01] [ 3.40130494e-03 1.78351784e-05 9.99994215e-01 2.10073586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.468639999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:17.93, Y:0.14, Z:0.19 [[ 9.99551452e-01 -2.97547540e-02 -3.39855532e-03 1.79307173e+01] [ 2.97544571e-02 9.99557229e-01 -1.37894501e-04 1.36885319e-01] [ 3.40115355e-03 3.67104801e-05 9.99994215e-01 1.90642336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.528639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:17.99, Y:0.14, Z:0.19 [[ 9.99590324e-01 -2.84188987e-02 -3.39861418e-03 1.79920948e+01] [ 2.84185990e-02 9.99596101e-01 -1.36428201e-04 1.42792807e-01] [ 3.40111862e-03 3.97884560e-05 9.99994215e-01 1.89994161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.588639999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:18.05, Y:0.15, Z:0.19 [[ 9.99607106e-01 -2.78223318e-02 -3.39862308e-03 1.80536551e+01] [ 2.78220295e-02 9.99612883e-01 -1.36206140e-04 1.48156731e-01] [ 3.40109699e-03 4.15960337e-05 9.99994215e-01 1.91848023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.648639999999997 meters Centerline goodness : 0.994192 with order 1 Centerline is valid? [True, True] Translation: X:18.11, Y:0.16, Z:0.22 [[ 9.99578180e-01 -2.88428904e-02 -3.39863196e-03 1.81143070e+01] [ 2.88425948e-02 9.99583957e-01 -1.35984290e-04 1.56073674e-01] [ 3.40114016e-03 3.79015647e-05 9.99994215e-01 2.17797104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.708639999999995 meters Centerline goodness : 0.997592 with order 1 Centerline is valid? [True, True] Translation: X:18.18, Y:0.16, Z:0.21 [[ 9.99674657e-01 -2.52790343e-02 -3.39864076e-03 1.81758184e+01] [ 2.52787188e-02 9.99680433e-01 -1.35763919e-04 1.63411095e-01] [ 3.40098665e-03 4.98064646e-05 9.99994215e-01 2.13026321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.768639999999998 meters Centerline goodness : 0.990464 with order 1 Centerline is valid? [True, True] Translation: X:18.24, Y:0.17, Z:0.22 [[ 9.99675229e-01 -2.52564058e-02 -3.39864965e-03 1.82367777e+01] [ 2.52560909e-02 9.99681005e-01 -1.35540956e-04 1.68823963e-01] [ 3.40098878e-03 4.96603314e-05 9.99994215e-01 2.22543949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.828639999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:18.30, Y:0.18, Z:0.19 [[ 9.99727237e-01 -2.31062994e-02 -3.39865387e-03 1.82976771e+01] [ 2.31059725e-02 9.99733012e-01 -1.35434991e-04 1.75385534e-01] [ 3.40087588e-03 5.68688461e-05 9.99994215e-01 1.92399445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.888639999999995 meters Centerline goodness : 0.914976 with order 3 Centerline is valid? [True, False] Translation: X:18.29, Y:0.21, Z:0.21 [[ 9.99752975e-01 -1.99742373e-02 -9.74778001e-03 1.82897099e+01] [ 1.95686227e-02 9.99005293e-01 -4.00686133e-02 2.08114592e-01] [ 1.05384238e-02 3.98679647e-02 9.99149382e-01 2.05564796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.948639999999997 meters Centerline goodness : 0.991831 with order 1 Centerline is valid? [False, True] Translation: X:18.29, Y:0.22, Z:0.21 [[ 9.99818193e-01 -1.49576349e-02 -1.18258068e-02 1.82894781e+01] [ 1.42571873e-02 9.98258262e-01 -5.72466120e-02 2.22261592e-01] [ 1.26614832e-02 5.70676015e-02 9.98290026e-01 2.08722425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.008639999999996 meters Centerline goodness : 0.995081 with order 1 Centerline is valid? [True, True] Translation: X:18.35, Y:0.18, Z:0.19 [[ 9.99857116e-01 -1.01419964e-02 -1.35236087e-02 1.83509740e+01] [ 1.01375314e-02 9.99948534e-01 -3.98679940e-04 1.75436981e-01] [ 1.35269561e-02 2.61526967e-04 9.99908472e-01 1.94885399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.068639999999995 meters Centerline goodness : 0.997151 with order 1 Centerline is valid? [True, True] Translation: X:18.41, Y:0.18, Z:0.19 [[ 9.99891856e-01 -5.77829300e-03 -1.35235824e-02 1.84092241e+01] [ 5.77341697e-03 9.99983254e-01 -3.99570712e-04 1.77794736e-01] [ 1.35256647e-02 3.21450221e-04 9.99908472e-01 1.93543868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.128639999999997 meters Centerline goodness : 0.993223 with order 1 Centerline is valid? [True, True] Translation: X:18.47, Y:0.18, Z:0.20 [[ 9.99877410e-01 -7.89172420e-03 -1.35235165e-02 1.84677011e+01] [ 7.88701138e-03 9.99968816e-01 -4.01788682e-04 1.81051764e-01] [ 1.35262656e-02 2.95079298e-04 9.99908472e-01 1.98427261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.188639999999996 meters Centerline goodness : 0.994788 with order 1 Centerline is valid? [True, True] Translation: X:18.53, Y:0.18, Z:0.20 [[ 9.99835731e-01 -1.20675772e-02 -1.35234625e-02 1.85270303e+01] [ 1.20632217e-02 9.99927155e-01 -4.03598005e-04 1.81408408e-01] [ 1.35273478e-02 2.40395181e-04 9.99908472e-01 1.98285577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.248639999999998 meters Centerline goodness : 0.786396 with order 3 Centerline is valid? [True, False] Translation: X:18.47, Y:0.21, Z:0.21 [[ 9.99929205e-01 -1.17694788e-02 -1.75057601e-03 1.84706656e+01] [ 1.16858551e-02 9.99054183e-01 -4.18829451e-02 2.14254148e-01] [ 2.24186072e-03 4.18595230e-02 9.99120991e-01 2.09401448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.308639999999997 meters Centerline goodness : 0.991034 with order 1 Centerline is valid? [False, True] Translation: X:18.43, Y:0.24, Z:0.22 [[ 9.99915482e-01 -1.15340485e-02 5.99955430e-03 1.84336118e+01] [ 1.19651201e-02 9.96911198e-01 -7.76202228e-02 2.41889547e-01] [-5.08574745e-03 7.76854478e-02 9.96964947e-01 2.18913513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.368639999999996 meters Centerline goodness : 0.992995 with order 1 Centerline is valid? [True, True] Translation: X:18.50, Y:0.17, Z:0.20 [[ 9.99929946e-01 -1.12138344e-02 3.78855889e-03 1.84964256e+01] [ 1.12135044e-02 9.99937121e-01 1.08325472e-04 1.74861395e-01] [-3.78953541e-03 -6.58348621e-05 9.99992818e-01 2.02564762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.428639999999998 meters Centerline goodness : 0.992961 with order 1 Centerline is valid? [True, True] Translation: X:18.56, Y:0.18, Z:0.20 [[ 9.99942251e-01 -1.00569497e-02 3.78856251e-03 1.85584268e+01] [ 1.00566119e-02 9.99949425e-01 1.08198595e-04 1.77763315e-01] [-3.78945905e-03 -7.00922438e-05 9.99992818e-01 2.04578309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.488639999999997 meters Centerline goodness : 0.968045 with order 1 Centerline is valid? [True, True] Translation: X:18.62, Y:0.21, Z:0.19 [[ 9.98007267e-01 6.29852458e-02 3.78861240e-03 1.86190759e+01] [-6.29860999e-02 9.98014399e-01 1.06422732e-04 2.13418166e-01] [-3.77438666e-03 -3.44840579e-04 9.99992818e-01 1.93390998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.548639999999995 meters Centerline goodness : 0.991947 with order 1 Centerline is valid? [True, True] Translation: X:18.68, Y:0.18, Z:0.21 [[ 9.99943744e-01 -9.90729009e-03 3.78861950e-03 1.86792315e+01] [ 9.90695892e-03 9.99950919e-01 1.06169349e-04 1.78533318e-01] [-3.78948540e-03 -6.86296787e-05 9.99992818e-01 2.05885151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.608639999999998 meters Centerline goodness : 0.931058 with order 3 Centerline is valid? [True, False] Translation: X:18.62, Y:0.22, Z:0.22 [[ 9.99878556e-01 -8.83510874e-03 1.28380163e-02 1.86172513e+01] [ 9.44259952e-03 9.98800000e-01 -4.80561909e-02 2.17061829e-01] [-1.23980291e-02 4.81715790e-02 9.98762128e-01 2.18890168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.668639999999996 meters Centerline goodness : 0.991087 with order 1 Centerline is valid? [False, True] Translation: X:18.58, Y:0.25, Z:0.23 [[ 9.99837181e-01 -5.47269738e-03 1.71948193e-02 1.85812041e+01] [ 6.87362283e-03 9.96567264e-01 -8.25011650e-02 2.49791095e-01] [-1.66842901e-02 8.26059229e-02 9.96442621e-01 2.29648446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.728639999999995 meters Centerline goodness : 0.991643 with order 1 Centerline is valid? [True, True] Translation: X:18.65, Y:0.18, Z:0.21 [[ 9.99877822e-01 -5.96092273e-03 1.44501750e-02 1.86456294e+01] [ 5.95451229e-03 9.99982153e-01 4.86607403e-04 1.82981742e-01] [-1.44528178e-02 -4.00504205e-04 9.99895472e-01 2.10081200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.788639999999997 meters Centerline goodness : 0.991993 with order 1 Centerline is valid? [True, True] Translation: X:18.71, Y:0.19, Z:0.21 [[ 9.99851580e-01 -9.38132106e-03 1.44502414e-02 1.87079548e+01] [ 9.37529616e-03 9.99955934e-01 4.84627730e-04 1.90592293e-01] [-1.44541511e-02 -3.49080509e-04 9.99895472e-01 2.10559328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.848639999999996 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:18.77, Y:0.20, Z:0.19 [[ 9.99856768e-01 -8.81069975e-03 1.44504653e-02 1.87695899e+01] [ 8.80471309e-03 9.99961124e-01 4.77856470e-04 1.96040036e-01] [-1.44541138e-02 -3.50555824e-04 9.99895472e-01 1.93352475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.908639999999995 meters Centerline goodness : 0.993363 with order 1 Centerline is valid? [True, True] Translation: X:18.83, Y:0.20, Z:0.21 [[ 9.99827414e-01 -1.16755961e-02 1.44506816e-02 1.88320401e+01] [ 1.16700042e-02 9.99931792e-01 4.71225203e-04 2.01275933e-01] [-1.44551978e-02 -3.02504361e-04 9.99895472e-01 2.08242981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.968639999999997 meters Centerline goodness : 0.993074 with order 1 Centerline is valid? [True, True] Translation: X:18.90, Y:0.20, Z:0.21 [[ 9.99802163e-01 -1.36677066e-02 1.44508939e-02 1.88954298e+01] [ 1.36624182e-02 9.99906557e-01 4.64622561e-04 2.02507728e-01] [-1.44558938e-02 -2.67096486e-04 9.99895472e-01 2.06816863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.028639999999996 meters Centerline goodness : 0.995320 with order 1 Centerline is valid? [True, True] Translation: X:18.96, Y:0.21, Z:0.20 [[ 9.99765788e-01 -1.61100229e-02 1.44511376e-02 1.89572806e+01] [ 1.61051009e-02 9.99870200e-01 4.56913848e-04 2.07614867e-01] [-1.44566227e-02 -2.24069805e-04 9.99895472e-01 2.04886998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.088639999999998 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:19.02, Y:0.21, Z:0.19 [[ 9.99759482e-01 -1.64965499e-02 1.44513445e-02 1.90196262e+01] [ 1.64917642e-02 9.99863900e-01 4.50272402e-04 2.09559898e-01] [-1.44568056e-02 -2.11835937e-04 9.99895472e-01 1.90803893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.148639999999997 meters Centerline goodness : 0.994335 with order 1 Centerline is valid? [True, True] Translation: X:19.08, Y:0.21, Z:0.20 [[ 9.99673581e-01 -2.10685682e-02 1.44515434e-02 1.90820934e+01] [ 2.10643537e-02 9.99778023e-01 4.43795962e-04 2.10393377e-01] [-1.44576857e-02 -1.39238676e-04 9.99895473e-01 2.02977829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.208639999999995 meters Centerline goodness : 0.994543 with order 1 Centerline is valid? [True, True] Translation: X:19.14, Y:0.22, Z:0.20 [[ 9.99640646e-01 -2.25770907e-02 1.44517425e-02 1.91447086e+01] [ 2.25731289e-02 9.99745099e-01 4.37214881e-04 2.15941746e-01] [-1.44579298e-02 -1.10836719e-04 9.99895473e-01 2.00715656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.268639999999998 meters Centerline goodness : 0.998622 with order 1 Centerline is valid? [True, True] Translation: X:19.21, Y:0.22, Z:0.19 [[ 9.99628505e-01 -2.31082617e-02 1.44519676e-02 1.92059004e+01] [ 2.31044649e-02 9.99732964e-01 4.29644211e-04 2.18162390e-01] [-1.44580367e-02 -9.55796229e-05 9.99895473e-01 1.85289428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.328639999999996 meters Centerline goodness : 0.998036 with order 1 Centerline is valid? [True, True] Translation: X:19.27, Y:0.22, Z:0.18 [[ 9.99617185e-01 -2.35928841e-02 1.44519959e-02 1.92681681e+01] [ 2.35891517e-02 9.99721645e-01 4.28688543e-04 2.23612290e-01] [-1.44580871e-02 -8.76141097e-05 9.99895473e-01 1.83910509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.388639999999995 meters Centerline goodness : 0.993080 with order 1 Centerline is valid? [True, True] Translation: X:19.33, Y:0.22, Z:0.20 [[ 9.99639107e-01 -2.26448770e-02 1.44521874e-02 1.93293522e+01] [ 2.26411403e-02 9.99743567e-01 4.22134332e-04 2.24728552e-01] [-1.44580405e-02 -9.47679839e-05 9.99895473e-01 1.96780311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.448639999999997 meters Centerline goodness : 0.996950 with order 1 Centerline is valid? [True, True] Translation: X:19.39, Y:0.23, Z:0.18 [[ 9.99656100e-01 -2.18818590e-02 1.44522145e-02 1.93895626e+01] [ 2.18780561e-02 9.99760558e-01 4.21202471e-04 2.26032289e-01] [-1.44579708e-02 -1.04871259e-04 9.99895473e-01 1.80472430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.508639999999996 meters Centerline goodness : 0.996704 with order 1 Centerline is valid? [True, True] Translation: X:19.45, Y:0.23, Z:0.18 [[ 9.99750382e-01 -1.70384221e-02 1.44522145e-02 1.94517298e+01] [ 1.70341132e-02 9.99854820e-01 4.21202471e-04 2.27848321e-01] [-1.44572930e-02 -1.74916673e-04 9.99895473e-01 1.78167933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.568639999999995 meters Centerline goodness : 0.996751 with order 1 Centerline is valid? [True, True] Translation: X:19.51, Y:0.23, Z:0.18 [[ 9.99784623e-01 -1.48941229e-02 1.44524012e-02 1.95141676e+01] [ 1.48896840e-02 9.99889057e-01 4.14696462e-04 2.30291044e-01] [-1.44569744e-02 -1.99415458e-04 9.99895473e-01 1.78503193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.628639999999997 meters Centerline goodness : 0.988501 with order 1 Centerline is valid? [True, True] Translation: X:19.58, Y:0.23, Z:0.20 [[ 9.99755631e-01 -1.67272364e-02 1.44525844e-02 1.95755313e+01] [ 1.67230828e-02 9.99860076e-01 4.08211678e-04 2.31311363e-01] [-1.44573904e-02 -1.66420159e-04 9.99895473e-01 1.95497085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.688639999999996 meters Centerline goodness : 0.997103 with order 1 Centerline is valid? [True, True] Translation: X:19.64, Y:0.23, Z:0.17 [[ 9.99794017e-01 -1.42494069e-02 1.44525975e-02 1.96356723e+01] [ 1.42450012e-02 9.99898452e-01 4.07745510e-04 2.33256071e-01] [-1.44569400e-02 -2.01784253e-04 9.99895473e-01 1.73163544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.748639999999995 meters Centerline goodness : 0.996512 with order 1 Centerline is valid? [True, True] Translation: X:19.70, Y:0.24, Z:0.17 [[ 9.99842728e-01 -1.02782192e-02 1.44525975e-02 1.96984055e+01] [ 1.02733987e-02 9.99947144e-01 4.07745510e-04 2.38345185e-01] [-1.44560245e-02 -2.59204086e-04 9.99895473e-01 1.71647670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.808639999999997 meters Centerline goodness : 0.996609 with order 1 Centerline is valid? [True, True] Translation: X:19.76, Y:0.25, Z:0.17 [[ 9.99883485e-01 -4.91249372e-03 1.44528011e-02 1.97601612e+01] [ 4.90721907e-03 9.99987879e-01 4.00398269e-04 2.45610663e-01] [-1.44545929e-02 -3.29428556e-04 9.99895473e-01 1.71660438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.868639999999996 meters Centerline goodness : 0.996317 with order 1 Centerline is valid? [True, True] Translation: X:19.82, Y:0.25, Z:0.17 [[ 9.99872699e-01 -6.76002979e-03 1.44529767e-02 1.98221578e+01] [ 6.75504113e-03 9.99977107e-01 3.93955306e-04 2.51400173e-01] [-1.44553090e-02 -2.96274703e-04 9.99895473e-01 1.68864393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.928639999999998 meters Centerline goodness : 0.997156 with order 1 Centerline is valid? [True, True] Translation: X:19.88, Y:0.26, Z:0.17 [[ 9.99821186e-01 -1.21943334e-02 1.44531518e-02 1.98843055e+01] [ 1.21900067e-02 9.99925624e-01 3.87422283e-04 2.55363105e-01] [-1.44568012e-02 -2.11168989e-04 9.99895473e-01 1.67489899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.988639999999997 meters Centerline goodness : 0.984810 with order 1 Centerline is valid? [True, True] Translation: X:19.95, Y:0.26, Z:0.19 [[ 9.99624563e-01 -2.32773299e-02 1.44533227e-02 1.99453257e+01] [ 2.32742550e-02 9.99729045e-01 3.80939796e-04 2.55161850e-01] [-1.44582737e-02 -4.44064599e-05 9.99895473e-01 1.90303291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.048639999999995 meters Centerline goodness : 0.989096 with order 1 Centerline is valid? [True, True] Translation: X:20.01, Y:0.25, Z:0.18 [[ 9.99561490e-01 -2.58443356e-02 1.44533349e-02 2.00076557e+01] [ 2.58415357e-02 9.99665979e-01 3.80475188e-04 2.54324340e-01] [-1.44583403e-02 -6.81197552e-06 9.99895473e-01 1.82375597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.108639999999998 meters Centerline goodness : 0.996261 with order 1 Centerline is valid? [True, True] Translation: X:20.07, Y:0.25, Z:0.16 [[ 9.99646410e-01 -2.23192877e-02 1.44534972e-02 2.00681401e+01] [ 2.23162100e-02 9.99750892e-01 3.74204916e-04 2.50567575e-01] [-1.44582488e-02 -5.15253218e-05 9.99895473e-01 1.64338554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.168639999999996 meters Centerline goodness : 0.996510 with order 1 Centerline is valid? [True, True] Translation: X:20.13, Y:0.25, Z:0.16 [[ 9.99743184e-01 -1.74545545e-02 1.44535089e-02 2.01306870e+01] [ 1.74509749e-02 9.99847650e-01 3.73753058e-04 2.53340289e-01] [-1.44578306e-02 -1.21429251e-04 9.99895473e-01 1.63734036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.228639999999995 meters Centerline goodness : 0.979270 with order 1 Centerline is valid? [True, True] Translation: X:20.19, Y:0.25, Z:0.19 [[ 9.99681527e-01 -2.06865935e-02 1.44536829e-02 2.01922955e+01] [ 2.06834508e-02 9.99786007e-01 3.66900492e-04 2.54713724e-01] [-1.44581798e-02 -6.78316061e-05 9.99895473e-01 1.91543077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.288639999999997 meters Centerline goodness : 0.985792 with order 1 Centerline is valid? [True, True] Translation: X:20.25, Y:0.26, Z:0.18 [[ 9.99806803e-01 -1.33209290e-02 1.44537064e-02 2.02536448e+01] [ 1.33170301e-02 9.99911257e-01 3.65969852e-04 2.58525964e-01] [-1.44572988e-02 -1.73418704e-04 9.99895473e-01 1.84444269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.348639999999996 meters Centerline goodness : 0.996019 with order 1 Centerline is valid? [True, True] Translation: X:20.32, Y:0.26, Z:0.16 [[ 9.99877812e-01 -5.95404913e-03 1.44537296e-02 2.03152097e+01] [ 5.94939392e-03 9.99982236e-01 3.65053004e-04 2.58797574e-01] [-1.44556464e-02 -2.79017467e-04 9.99895473e-01 1.60460115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.408639999999995 meters Centerline goodness : 0.984686 with order 1 Centerline is valid? [True, True] Translation: X:20.38, Y:0.27, Z:0.18 [[ 9.99887255e-01 -4.07009527e-03 1.44537647e-02 2.03770738e+01] [ 4.06526350e-03 9.99991671e-01 3.63656644e-04 2.67798485e-01] [-1.44551245e-02 -3.04857281e-04 9.99895473e-01 1.84023734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.468639999999997 meters Centerline goodness : 0.988898 with order 1 Centerline is valid? [True, True] Translation: X:20.44, Y:0.27, Z:0.18 [[ 9.99894720e-01 -1.27796576e-03 1.44539136e-02 2.04389204e+01] [ 1.27292939e-03 9.99999126e-01 3.57638374e-04 2.73223194e-01] [-1.44543581e-02 -3.39201910e-04 9.99895473e-01 1.81425053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.528639999999996 meters Centerline goodness : 0.990657 with order 1 Centerline is valid? [True, True] Translation: X:20.50, Y:0.28, Z:0.18 [[ 9.99894808e-01 1.20536983e-03 1.44540726e-02 2.05014311e+01] [-1.21057095e-03 9.99999206e-01 3.51094139e-04 2.83917119e-01] [-1.44536379e-02 -3.68554887e-04 9.99895473e-01 1.82354139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.588639999999995 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:20.56, Y:0.29, Z:0.16 [[ 9.99895532e-01 -3.46437230e-05 1.44542310e-02 2.05623751e+01] [ 2.96681205e-05 9.99999940e-01 3.44445846e-04 2.93990846e-01] [-1.44542421e-02 -3.43981032e-04 9.99895473e-01 1.57874172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.648639999999997 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:20.62, Y:0.30, Z:0.16 [[ 9.99887978e-01 -3.88665791e-03 1.44542544e-02 2.06243125e+01] [ 3.88209879e-03 9.99992406e-01 3.43461707e-04 3.01630417e-01] [-1.44554796e-02 -2.87310389e-04 9.99895473e-01 1.56989857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.708639999999995 meters Centerline goodness : 0.986782 with order 1 Centerline is valid? [True, True] Translation: X:20.69, Y:0.31, Z:0.18 [[ 9.99819001e-01 -1.23707106e-02 1.44544048e-02 2.06880415e+01] [ 1.23671309e-02 9.99923467e-01 3.37010312e-04 3.08134858e-01] [-1.44574677e-02 -1.58189797e-04 9.99895473e-01 1.83089471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.768639999999998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:20.75, Y:0.31, Z:0.15 [[ 9.99794471e-01 -1.42155424e-02 1.44545743e-02 2.07507003e+01] [ 1.42122630e-02 9.99898946e-01 3.29577242e-04 3.13319543e-01] [-1.44577987e-02 -1.24077292e-04 9.99895473e-01 1.52138242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.828639999999996 meters Centerline goodness : 0.958108 with order 1 Centerline is valid? [True, True] Translation: X:20.81, Y:0.36, Z:0.16 [[ 9.98137349e-01 5.92696555e-02 1.44547427e-02 2.08119322e+01] [-5.92804923e-02 9.98241313e-01 3.22017122e-04 3.61069255e-01] [-1.44102355e-02 -1.17830158e-03 9.99895473e-01 1.62512935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.888639999999995 meters Centerline goodness : 0.995291 with order 1 Centerline is valid? [True, True] Translation: X:20.87, Y:0.32, Z:0.17 [[ 9.99539928e-01 -2.66644339e-02 1.44547834e-02 2.08727275e+01] [ 2.66625916e-02 9.99644439e-01 3.20180947e-04 3.19090384e-01] [-1.44581813e-02 6.53683471e-05 9.99895473e-01 1.71329756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.948639999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:20.93, Y:0.32, Z:0.15 [[ 9.99579329e-01 -2.51440809e-02 1.44547629e-02 2.09335706e+01] [ 2.51420663e-02 9.99683837e-01 3.21104468e-04 3.20118356e-01] [-1.44582667e-02 4.24532192e-05 9.99895473e-01 1.45664234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.008639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:21.00, Y:0.32, Z:0.15 [[ 9.99556218e-01 -2.60466339e-02 1.44547730e-02 2.09962602e+01] [ 2.60447203e-02 9.99660727e-01 3.20650482e-04 3.21113972e-01] [-1.44582207e-02 5.59623353e-05 9.99895473e-01 1.45604352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.068639999999995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:21.06, Y:0.33, Z:0.15 [[ 9.99595100e-01 -2.45090106e-02 1.44549298e-02 2.10587551e+01] [ 2.45070407e-02 9.99699608e-01 3.13418614e-04 3.26557004e-01] [-1.44582692e-02 4.09558420e-05 9.99895473e-01 1.45466211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.128639999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:21.12, Y:0.33, Z:0.14 [[ 9.99691000e-01 -2.02226408e-02 1.44550636e-02 2.11210105e+01] [ 2.02203140e-02 9.99795501e-01 3.07120314e-04 3.30776379e-01] [-1.44583183e-02 -1.47394896e-05 9.99895473e-01 1.44105011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.188639999999996 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:21.18, Y:0.33, Z:0.16 [[ 9.99656346e-01 -2.18686168e-02 1.44551962e-02 2.11827266e+01] [ 2.18665541e-02 9.99760853e-01 3.00748722e-04 3.31894363e-01] [-1.44583162e-02 1.54399601e-05 9.99895473e-01 1.60080026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.248639999999995 meters Centerline goodness : 0.996262 with order 1 Centerline is valid? [True, True] Translation: X:21.24, Y:0.34, Z:0.17 [[ 9.99583368e-01 -2.49827446e-02 1.44552150e-02 2.12439640e+01] [ 2.49810206e-02 9.99687881e-01 2.99842085e-04 3.36473882e-01] [-1.44581941e-02 6.13888621e-05 9.99895473e-01 1.68862433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.308639999999997 meters Centerline goodness : 0.995883 with order 1 Centerline is valid? [True, True] Translation: X:21.31, Y:0.34, Z:0.17 [[ 9.99671265e-01 -2.11756581e-02 1.44552343e-02 2.13061099e+01] [ 2.11735496e-02 9.99775771e-01 2.98907445e-04 3.41896838e-01] [-1.44583226e-02 7.25943683e-06 9.99895473e-01 1.65581953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.368639999999996 meters Centerline goodness : 0.994804 with order 1 Centerline is valid? [True, True] Translation: X:21.37, Y:0.35, Z:0.17 [[ 9.99704813e-01 -1.95276752e-02 1.44553635e-02 2.13681955e+01] [ 1.95254868e-02 9.99809317e-01 2.92520418e-04 3.46236428e-01] [-1.44583194e-02 -1.01860593e-05 9.99895473e-01 1.66799552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.428639999999994 meters Centerline goodness : 0.997354 with order 1 Centerline is valid? [True, True] Translation: X:21.43, Y:0.35, Z:0.16 [[ 9.99727991e-01 -1.83025528e-02 1.44554902e-02 2.14302781e+01] [ 1.83003288e-02 9.99832494e-01 2.86120459e-04 3.49905626e-01] [-1.44583056e-02 -2.15024072e-05 9.99895473e-01 1.60366027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.488639999999997 meters Centerline goodness : 0.995143 with order 1 Centerline is valid? [True, True] Translation: X:21.49, Y:0.35, Z:0.16 [[ 9.99655545e-01 -2.19049930e-02 1.44555265e-02 2.14924606e+01] [ 2.19031724e-02 9.99760056e-01 2.84275237e-04 3.53679933e-01] [-1.44582850e-02 3.24445717e-05 9.99895473e-01 1.64397713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.548639999999995 meters Centerline goodness : 0.986568 with order 1 Centerline is valid? [True, True] Translation: X:21.55, Y:0.36, Z:0.17 [[ 9.99717886e-01 -1.88462761e-02 1.44556483e-02 2.15534928e+01] [ 1.88442273e-02 9.99822393e-01 2.77938972e-04 3.62928942e-01] [-1.44583190e-02 -5.45503912e-06 9.99895473e-01 1.71956926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.608639999999998 meters Centerline goodness : 0.996619 with order 1 Centerline is valid? [True, True] Translation: X:21.61, Y:0.36, Z:0.16 [[ 9.99605324e-01 -2.40879665e-02 1.44556657e-02 2.16141209e+01] [ 2.40864788e-02 9.99709840e-01 2.77032061e-04 3.64238940e-01] [-1.44581444e-02 7.12633624e-05 9.99895473e-01 1.61244825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.668639999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:21.68, Y:0.37, Z:0.14 [[ 9.99611891e-01 -2.38138818e-02 1.44556744e-02 2.16750621e+01] [ 2.38123721e-02 9.99716407e-01 2.76576249e-04 3.68306522e-01] [-1.44581613e-02 6.77549907e-05 9.99895473e-01 1.37039841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.728639999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:21.74, Y:0.37, Z:0.13 [[ 9.99506167e-01 -2.79007932e-02 1.44556917e-02 2.17369281e+01] [ 2.78997240e-02 9.99610689e-01 2.75668477e-04 3.69788097e-01] [-1.44577553e-02 1.27777466e-04 9.99895473e-01 1.34295003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.788639999999997 meters Centerline goodness : 0.997110 with order 1 Centerline is valid? [True, True] Translation: X:21.80, Y:0.37, Z:0.15 [[ 9.99334820e-01 -3.34805447e-02 1.44558082e-02 2.17987881e+01] [ 3.34801493e-02 9.99439346e-01 2.69421785e-04 3.69251865e-01] [-1.44567238e-02 2.14740045e-04 9.99895473e-01 1.53969847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.848639999999996 meters Centerline goodness : 0.997645 with order 1 Centerline is valid? [True, True] Translation: X:21.86, Y:0.37, Z:0.15 [[ 9.99234611e-01 -3.63486017e-02 1.44558247e-02 2.18615954e+01] [ 3.63485192e-02 9.99339138e-01 2.68532003e-04 3.67827393e-01] [-1.44560321e-02 2.57121349e-04 9.99895473e-01 1.53906227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.908639999999995 meters Centerline goodness : 0.997550 with order 1 Centerline is valid? [True, True] Translation: X:21.92, Y:0.36, Z:0.15 [[ 9.99058115e-01 -4.09134405e-02 1.44559373e-02 2.19236445e+01] [ 4.09139253e-02 9.99162640e-01 2.62326727e-04 3.61630352e-01] [-1.44545652e-02 3.29369493e-04 9.99895473e-01 1.50572865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.968639999999997 meters Centerline goodness : 0.995731 with order 1 Centerline is valid? [True, True] Translation: X:21.99, Y:0.35, Z:0.15 [[ 9.98863583e-01 -4.54154682e-02 1.44560468e-02 2.19864132e+01] [ 4.54165134e-02 9.98968105e-01 2.56147951e-04 3.52292726e-01] [-1.44527627e-02 4.00686383e-04 9.99895473e-01 1.52136224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.028639999999996 meters Centerline goodness : 0.996267 with order 1 Centerline is valid? [True, True] Translation: X:22.05, Y:0.35, Z:0.15 [[ 9.99296426e-01 -3.46074437e-02 1.44560864e-02 2.20487872e+01] [ 3.46073907e-02 9.99400953e-01 2.53894660e-04 3.48148381e-01] [-1.44562131e-02 2.46571403e-04 9.99895473e-01 1.51536083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.088639999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:22.11, Y:0.35, Z:0.13 [[ 9.99680060e-01 -2.07556212e-02 1.44561918e-02 2.21088849e+01] [ 2.07542086e-02 9.99784578e-01 2.47742143e-04 3.46957636e-01] [-1.44582196e-02 5.23639395e-05 9.99895473e-01 1.27349833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.148639999999997 meters Centerline goodness : 0.995978 with order 1 Centerline is valid? [True, True] Translation: X:22.17, Y:0.34, Z:0.15 [[ 9.99716083e-01 -1.89412750e-02 1.44561918e-02 2.21709319e+01] [ 1.89396728e-02 9.99820598e-01 2.47742143e-04 3.44964700e-01] [-1.44582909e-02 2.61237368e-05 9.99895473e-01 1.50079600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.208639999999995 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:22.23, Y:0.34, Z:0.13 [[ 9.99788693e-01 -1.46145455e-02 1.44562898e-02 2.22324326e+01] [ 1.46125757e-02 9.99893201e-01 2.41887574e-04 3.44523572e-01] [-1.44582809e-02 -3.05928334e-05 9.99895473e-01 1.25660410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.268639999999994 meters Centerline goodness : 0.989703 with order 1 Centerline is valid? [True, True] Translation: X:22.30, Y:0.35, Z:0.15 [[ 9.99886403e-01 -4.26557491e-03 1.44563128e-02 2.22950450e+01] [ 4.26254345e-03 9.99990886e-01 2.40503257e-04 3.48736581e-01] [-1.44572069e-02 -1.78855275e-04 9.99895473e-01 1.50445262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.328639999999996 meters Centerline goodness : 0.996700 with order 1 Centerline is valid? [True, True] Translation: X:22.36, Y:0.34, Z:0.15 [[ 9.99711624e-01 -1.91749871e-02 1.44564175e-02 2.23569316e+01] [ 1.91736076e-02 9.99816142e-01 2.34032595e-04 3.39741879e-01] [-1.44582472e-02 4.32165703e-05 9.99895473e-01 1.50867318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.388639999999995 meters Centerline goodness : 0.996072 with order 1 Centerline is valid? [True, True] Translation: X:22.42, Y:0.34, Z:0.15 [[ 9.99784347e-01 -1.49086752e-02 1.44565127e-02 2.24198540e+01] [ 1.49069369e-02 9.99888859e-01 2.27996190e-04 3.40099908e-01] [-1.44583052e-02 -1.24446990e-05 9.99895473e-01 1.45548667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.448639999999997 meters Centerline goodness : 0.997338 with order 1 Centerline is valid? [True, True] Translation: X:22.48, Y:0.34, Z:0.14 [[ 9.99803285e-01 -1.35792709e-02 1.44566263e-02 2.24822597e+01] [ 1.35775013e-02 9.99907797e-01 2.20553383e-04 3.37281394e-01] [-1.44582883e-02 -2.42251352e-05 9.99895473e-01 1.42122954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.508639999999996 meters Centerline goodness : 0.995818 with order 1 Centerline is valid? [True, True] Translation: X:22.54, Y:0.34, Z:0.14 [[ 9.99813567e-01 -1.27997636e-02 1.44567229e-02 2.25449614e+01] [ 1.27980069e-02 9.99918079e-01 2.14024079e-04 3.40602605e-01] [-1.44582781e-02 -2.89669384e-05 9.99895473e-01 1.44164725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.568639999999995 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:22.61, Y:0.34, Z:0.12 [[ 9.99837688e-01 -1.07517633e-02 1.44567573e-02 2.26060642e+01] [ 1.07498264e-02 9.99942197e-01 2.11681422e-04 3.42624478e-01] [-1.44581975e-02 -5.62394324e-05 9.99895473e-01 1.21291290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.628639999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:22.67, Y:0.35, Z:0.12 [[ 9.99819850e-01 -1.22991624e-02 1.44567709e-02 2.26678740e+01] [ 1.22974008e-02 9.99924362e-01 2.10744369e-04 3.48244420e-01] [-1.44582694e-02 -3.29256964e-05 9.99895473e-01 1.19903352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.688639999999996 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:22.73, Y:0.35, Z:0.13 [[ 9.99742929e-01 -1.74664187e-02 1.44568618e-02 2.27284362e+01] [ 1.74652903e-02 9.99847449e-01 2.04312728e-04 3.48233724e-01] [-1.44582250e-02 4.82330834e-05 9.99895473e-01 1.33185479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.748639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.79, Y:0.35, Z:0.12 [[ 9.99563569e-01 -2.57618057e-02 1.44568691e-02 2.27888090e+01] [ 2.57615521e-02 9.99668095e-01 2.03793313e-04 3.47905582e-01] [-1.44573209e-02 1.68727016e-04 9.99895473e-01 1.16922633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.808639999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.85, Y:0.34, Z:0.11 [[ 9.99379648e-01 -3.21141279e-02 1.44568754e-02 2.28517752e+01] [ 3.21145452e-02 9.99484174e-01 2.03347735e-04 3.40380742e-01] [-1.44559485e-02 2.61054390e-04 9.99895473e-01 1.14730578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.868639999999996 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:22.91, Y:0.34, Z:0.13 [[ 9.99324485e-01 -3.37871279e-02 1.44569723e-02 2.29136249e+01] [ 3.37878233e-02 9.99429009e-01 1.96210900e-04 3.38559659e-01] [-1.44553469e-02 2.92391268e-04 9.99895473e-01 1.34199971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.928639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:22.97, Y:0.33, Z:0.11 [[ 9.99229646e-01 -3.64843821e-02 1.44569848e-02 2.29746250e+01] [ 3.64853731e-02 9.99334168e-01 1.95278820e-04 3.32125953e-01] [-1.44544836e-02 3.32340101e-04 9.99895473e-01 1.12248407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.988639999999997 meters Centerline goodness : 0.996462 with order 1 Centerline is valid? [True, True] Translation: X:23.04, Y:0.32, Z:0.14 [[ 9.99153024e-01 -3.85257028e-02 1.44569972e-02 2.30373805e+01] [ 3.85269206e-02 9.99257544e-01 1.94363718e-04 3.19037820e-01] [-1.44537515e-02 3.62784485e-04 9.99895473e-01 1.35829666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.048639999999995 meters Centerline goodness : 0.995759 with order 1 Centerline is valid? [True, True] Translation: X:23.10, Y:0.31, Z:0.13 [[ 9.99201928e-01 -3.72357532e-02 1.44570262e-02 2.31000431e+01] [ 3.72368677e-02 9.99306449e-01 1.92176401e-04 3.13620427e-01] [-1.44541554e-02 3.46311342e-04 9.99895473e-01 1.34816068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.108639999999994 meters Centerline goodness : 0.996367 with order 1 Centerline is valid? [True, True] Translation: X:23.16, Y:0.30, Z:0.13 [[ 9.99166768e-01 -3.81675516e-02 1.44571086e-02 2.31631366e+01] [ 3.81688563e-02 9.99271286e-01 1.85762797e-04 3.04931685e-01] [-1.44536637e-02 3.66203289e-04 9.99895473e-01 1.32274125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.168639999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:23.22, Y:0.30, Z:0.11 [[ 9.99337041e-01 -3.34135840e-02 1.44571991e-02 2.32247535e+01] [ 3.34144974e-02 9.99441564e-01 1.78435895e-04 2.97270239e-01] [-1.44550878e-02 3.04762441e-04 9.99895473e-01 1.09445872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.228639999999995 meters Centerline goodness : 0.984919 with order 1 Centerline is valid? [True, True] Translation: X:23.29, Y:0.29, Z:0.14 [[ 9.99467438e-01 -2.92545702e-02 1.44572153e-02 2.32869632e+01] [ 2.92550677e-02 9.99571963e-01 1.77111846e-04 2.93400638e-01] [-1.44562084e-02 2.45929289e-04 9.99895473e-01 1.42619469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.288639999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:23.35, Y:0.29, Z:0.11 [[ 9.99681201e-01 -2.06998657e-02 1.44572371e-02 2.33484599e+01] [ 2.06994947e-02 9.99785727e-01 1.75315695e-04 2.90965264e-01] [-1.44577683e-02 1.23997698e-04 9.99895473e-01 1.09760882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.348639999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:23.41, Y:0.29, Z:0.11 [[ 9.99817360e-01 -1.24993506e-02 1.44573071e-02 2.34103748e+01] [ 1.24982087e-02 9.99921880e-01 1.69333134e-04 2.87433319e-01] [-1.44582943e-02 1.13882351e-05 9.99895473e-01 1.08011269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.408639999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:23.47, Y:0.29, Z:0.11 [[ 9.99846623e-01 -9.88505461e-03 1.44573795e-02 2.34730635e+01] [ 9.88373226e-03 9.99951141e-01 1.62914265e-04 2.88030442e-01] [-1.44582835e-02 -1.99964100e-05 9.99895473e-01 1.08203313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.468639999999997 meters Centerline goodness : 0.994937 with order 1 Centerline is valid? [True, True] Translation: X:23.54, Y:0.29, Z:0.13 [[ 9.99846781e-01 -9.86908978e-03 1.44574052e-02 2.35355417e+01] [ 9.86779925e-03 9.99951299e-01 1.60598415e-04 2.86710541e-01] [-1.44582861e-02 -1.79110356e-05 9.99895473e-01 1.30529676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.528639999999996 meters Centerline goodness : 0.923384 with order 3 Centerline is valid? [True, False] Translation: X:23.54, Y:0.31, Z:0.14 [[ 9.99994028e-01 -4.24642394e-05 3.45575771e-03 2.35436480e+01] [ 1.55464457e-04 9.99465023e-01 -3.27054198e-02 3.13380022e-01] [-3.45252015e-03 3.27057617e-02 9.99459060e-01 1.37127503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.588639999999995 meters Centerline goodness : 0.993568 with order 1 Centerline is valid? [False, True] Translation: X:23.55, Y:0.33, Z:0.14 [[ 9.99990665e-01 -4.49678133e-04 -4.29732173e-03 2.35483453e+01] [ 2.10111728e-04 9.98453853e-01 -5.55865055e-02 3.27278229e-01] [ 4.31567347e-03 5.55850837e-02 9.98444627e-01 1.44361247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.648639999999997 meters Centerline goodness : 0.994692 with order 1 Centerline is valid? [True, True] Translation: X:23.61, Y:0.28, Z:0.13 [[ 9.99985945e-01 2.36053649e-03 -4.74741391e-03 2.36084922e+01] [-2.36074273e-03 9.99997213e-01 -3.78401606e-05 2.77534469e-01] [ 4.74731136e-03 4.90470516e-05 9.99988730e-01 1.33302007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.708639999999995 meters Centerline goodness : 0.995133 with order 1 Centerline is valid? [True, True] Translation: X:23.67, Y:0.28, Z:0.13 [[ 9.99963354e-01 7.12411801e-03 -4.74741138e-03 2.36661475e+01] [-7.12437942e-03 9.99974621e-01 -3.81557697e-05 2.79997059e-01] [ 4.74701906e-03 7.19767313e-05 9.99988730e-01 1.33300569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.768639999999994 meters Centerline goodness : 0.996072 with order 1 Centerline is valid? [True, True] Translation: X:23.72, Y:0.28, Z:0.13 [[ 9.99927274e-01 1.10864259e-02 -4.74738951e-03 2.37244847e+01] [-1.10867441e-02 9.99938539e-01 -4.07066345e-05 2.84519117e-01] [ 4.74664644e-03 9.33367665e-05 9.99988730e-01 1.34286648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.828639999999996 meters Centerline goodness : 0.993559 with order 1 Centerline is valid? [True, True] Translation: X:23.78, Y:0.29, Z:0.14 [[ 9.99925069e-01 1.12835459e-02 -4.74736612e-03 2.37834335e+01] [-1.12838784e-02 9.99936334e-01 -4.32724233e-05 2.89639579e-01] [ 4.74657561e-03 9.68378830e-05 9.99988730e-01 1.36462483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.888639999999995 meters Centerline goodness : 0.833916 with order 3 Centerline is valid? [True, False] Translation: X:23.72, Y:0.33, Z:0.15 [[ 9.99917565e-01 1.13890443e-02 5.92902046e-03 2.37227948e+01] [-1.10972744e-02 9.98827907e-01 -4.71132898e-02 3.28215663e-01] [-6.45864644e-03 4.70436101e-02 9.98871956e-01 1.48278098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.948639999999994 meters Centerline goodness : 0.939370 with order 3 Centerline is valid? [False, False] Translation: X:23.70, Y:0.35, Z:0.16 [[ 9.99983489e-01 4.39185154e-04 5.72957137e-03 2.36955797e+01] [-1.39648330e-05 9.97257879e-01 -7.40048819e-02 3.46331025e-01] [-5.74636204e-03 7.40035800e-02 9.97241420e-01 1.57070851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.008639999999996 meters Centerline goodness : 0.994741 with order 1 Centerline is valid? [False, True] Translation: X:23.67, Y:0.36, Z:0.16 [[ 9.99984059e-01 -3.52591806e-03 4.41008164e-03 2.36738446e+01] [ 3.91799422e-03 9.95722590e-01 -9.23101954e-02 3.57341247e-01] [-4.06573973e-03 9.23260026e-02 9.95720533e-01 1.62091865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.068639999999995 meters Centerline goodness : 0.995978 with order 1 Centerline is valid? [True, True] Translation: X:23.73, Y:0.28, Z:0.14 [[ 9.99983662e-01 -4.91213976e-03 2.92332855e-03 2.37349475e+01] [ 4.91202202e-03 9.99987935e-01 4.74547877e-05 2.78758515e-01] [-2.92352639e-03 -3.30945582e-05 9.99995726e-01 1.40201775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.128639999999997 meters Centerline goodness : 0.995238 with order 1 Centerline is valid? [True, True] Translation: X:23.80, Y:0.28, Z:0.14 [[ 9.99992944e-01 -2.35918137e-03 2.92332545e-03 2.37967575e+01] [ 2.35905216e-03 9.99997216e-01 4.76452601e-05 2.82694738e-01] [-2.92342971e-03 -4.07486467e-05 9.99995726e-01 1.40699543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.188639999999996 meters Centerline goodness : 0.992121 with order 1 Centerline is valid? [True, True] Translation: X:23.86, Y:0.29, Z:0.14 [[ 9.99994717e-01 -1.42124502e-03 2.92333008e-03 2.38591724e+01] [ 1.42111265e-03 9.99998989e-01 4.73592911e-05 2.88729633e-01] [-2.92339443e-03 -4.32046596e-05 9.99995726e-01 1.42984491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.248639999999995 meters Centerline goodness : 0.991845 with order 1 Centerline is valid? [True, True] Translation: X:23.92, Y:0.29, Z:0.14 [[ 9.99989921e-01 -3.40758936e-03 2.92333624e-03 2.39220174e+01] [ 3.40746659e-03 9.99994193e-01 4.69758890e-05 2.91599715e-01] [-2.92347934e-03 -3.70142449e-05 9.99995726e-01 1.44575547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.308639999999997 meters Centerline goodness : 0.991203 with order 1 Centerline is valid? [True, True] Translation: X:23.98, Y:0.30, Z:0.14 [[ 9.99993311e-01 -2.19801664e-03 2.92336039e-03 2.39838695e+01] [ 2.19789325e-03 9.99997584e-01 4.54213105e-05 2.95605844e-01] [-2.92345317e-03 -3.89957727e-05 9.99995726e-01 1.42137984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.368639999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:24.05, Y:0.30, Z:0.11 [[ 9.99995291e-01 -9.33608619e-04 2.92336613e-03 2.40453349e+01] [ 9.33480912e-04 9.99999563e-01 4.50491685e-05 2.96453753e-01] [-2.92340691e-03 -4.23200499e-05 9.99995726e-01 1.11359896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.428639999999994 meters Centerline goodness : 0.997643 with order 1 Centerline is valid? [True, True] Translation: X:24.11, Y:0.30, Z:0.13 [[ 9.99943684e-01 -1.02021120e-02 2.92337038e-03 2.41063542e+01] [ 1.02020247e-02 9.99947957e-01 4.47714959e-05 2.95745053e-01] [-2.92367500e-03 -1.49446778e-05 9.99995726e-01 1.30794065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.488639999999997 meters Centerline goodness : 0.998180 with order 1 Centerline is valid? [True, True] Translation: X:24.17, Y:0.30, Z:0.13 [[ 9.99918011e-01 -1.24669330e-02 2.92337065e-03 2.41697564e+01] [ 1.24668555e-02 9.99922285e-01 4.47538968e-05 2.97308800e-01] [-2.92370140e-03 -8.30498817e-06 9.99995726e-01 1.28807235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.548639999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:24.23, Y:0.30, Z:0.11 [[ 9.99976279e-01 -6.23665087e-03 2.92339225e-03 2.42298361e+01] [ 6.23655094e-03 9.99980552e-01 4.32955765e-05 2.98152863e-01] [-2.92360541e-03 -2.50626647e-05 9.99995726e-01 1.07735393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.608639999999994 meters Centerline goodness : 0.995824 with order 1 Centerline is valid? [True, True] Translation: X:24.29, Y:0.30, Z:0.13 [[ 9.99854100e-01 -1.68295295e-02 2.92339351e-03 2.42907264e+01] [ 1.68294751e-02 9.99858373e-01 4.32102314e-05 2.95674771e-01] [-2.92370669e-03 5.99525141e-06 9.99995726e-01 1.28888668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.668639999999996 meters Centerline goodness : 0.996648 with order 1 Centerline is valid? [True, True] Translation: X:24.35, Y:0.29, Z:0.13 [[ 9.99808821e-01 -1.93332636e-02 2.92339374e-03 2.43533618e+01] [ 1.93332200e-02 9.99813095e-01 4.31947899e-05 2.92343910e-01] [-2.92368244e-03 1.33320822e-05 9.99995726e-01 1.25203205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.728639999999995 meters Centerline goodness : 0.996606 with order 1 Centerline is valid? [True, True] Translation: X:24.42, Y:0.29, Z:0.12 [[ 9.99729274e-01 -2.30831842e-02 2.92340058e-03 2.44155207e+01] [ 2.30831580e-02 9.99733547e-01 4.27265537e-05 2.85612594e-01] [-2.92360790e-03 2.47663309e-05 9.99995726e-01 1.22813919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.788639999999994 meters Centerline goodness : 0.994690 with order 1 Centerline is valid? [True, True] Translation: X:24.48, Y:0.28, Z:0.13 [[ 9.99735329e-01 -2.28194013e-02 2.92341960e-03 2.44774981e+01] [ 2.28193778e-02 9.99739603e-01 4.13831641e-05 2.83783733e-01] [-2.92360269e-03 2.53384053e-05 9.99995726e-01 1.27917763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.848639999999996 meters Centerline goodness : 0.980903 with order 1 Centerline is valid? [True, True] Translation: X:24.54, Y:0.30, Z:0.12 [[ 9.99549156e-01 2.98820810e-02 2.92343765e-03 2.45398023e+01] [-2.98823257e-02 9.99553423e-01 4.00661866e-05 3.04728737e-01] [-2.92093485e-03 -1.27407239e-04 9.99995726e-01 1.18301911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.908639999999995 meters Centerline goodness : 0.997840 with order 1 Centerline is valid? [True, True] Translation: X:24.60, Y:0.28, Z:0.10 [[ 9.99941379e-01 -1.04255679e-02 2.92344278e-03 2.46004584e+01] [ 1.04254964e-02 9.99945652e-01 3.96881626e-05 2.79706931e-01] [-2.92369767e-03 -9.20749380e-06 9.99995726e-01 1.02102307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.968639999999997 meters Centerline goodness : 0.993502 with order 1 Centerline is valid? [True, True] Translation: X:24.66, Y:0.28, Z:0.13 [[ 9.99952262e-01 -9.32348105e-03 2.92344220e-03 2.46616118e+01] [ 9.32340474e-03 9.99956535e-01 3.97305713e-05 2.80007595e-01] [-2.92368556e-03 -1.24722398e-05 9.99995726e-01 1.25345115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.028639999999996 meters Centerline goodness : 0.992632 with order 1 Centerline is valid? [True, True] Translation: X:24.72, Y:0.28, Z:0.13 [[ 9.99949183e-01 -9.64804025e-03 2.92344403e-03 2.47242191e+01] [ 9.64796572e-03 9.99953457e-01 3.95958007e-05 2.83063796e-01] [-2.92368998e-03 -1.13885007e-05 9.99995726e-01 1.26917385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.088639999999995 meters Centerline goodness : 0.991342 with order 1 Centerline is valid? [True, True] Translation: X:24.79, Y:0.28, Z:0.13 [[ 9.99922408e-01 -1.21091689e-02 2.92346374e-03 2.47862068e+01] [ 1.21091093e-02 9.99926681e-01 3.80827267e-05 2.83627110e-01] [-2.92371055e-03 -2.67922978e-06 9.99995726e-01 1.27238189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.148639999999997 meters Centerline goodness : 0.997690 with order 1 Centerline is valid? [True, True] Translation: X:24.85, Y:0.29, Z:0.10 [[ 9.99896114e-01 -1.41143461e-02 2.92346980e-03 2.48470297e+01] [ 1.41142965e-02 9.99900388e-01 3.76114668e-05 2.85819591e-01] [-2.92370945e-03 3.65516006e-06 9.99995726e-01 9.98228291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.208639999999995 meters Centerline goodness : 0.959990 with order 3 Centerline is valid? [True, True] Translation: X:25.02, Y:0.32, Z:0.10 [[ 9.98870273e-01 4.74302753e-02 2.92347105e-03 2.50188859e+01] [-4.74305876e-02 9.98874536e-01 3.75142075e-05 3.16409609e-01] [-2.91840148e-03 -1.76133776e-04 9.99995726e-01 9.62589742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.268639999999994 meters Centerline goodness : 0.994694 with order 1 Centerline is valid? [True, True] Translation: X:24.96, Y:0.28, Z:0.11 [[ 9.99229436e-01 -3.91374350e-02 2.96575910e-03 2.49597158e+01] [ 3.91423476e-02 9.99232336e-01 -1.61688986e-03 2.78775580e-01] [-2.90020148e-03 1.73173072e-03 9.99994295e-01 1.13753869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.328639999999996 meters Centerline goodness : 0.997198 with order 1 Centerline is valid? [True, True] Translation: X:25.02, Y:0.27, Z:0.10 [[ 9.98919460e-01 -4.63838269e-02 2.90731827e-03 2.50207646e+01] [ 4.63837351e-02 9.98923690e-01 9.90250630e-05 2.74589387e-01] [-2.90878225e-03 3.59342181e-05 9.99995769e-01 9.63393359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.388639999999995 meters Centerline goodness : 0.997543 with order 1 Centerline is valid? [True, True] Translation: X:25.08, Y:0.28, Z:0.10 [[ 9.98790111e-01 -4.90903318e-02 2.90731909e-03 2.50835866e+01] [ 4.90902516e-02 9.98794342e-01 9.90008742e-05 2.75901489e-01] [-2.90867384e-03 4.38399314e-05 9.99995769e-01 9.63076531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.448639999999994 meters Centerline goodness : 0.997937 with order 1 Centerline is valid? [True, True] Translation: X:25.15, Y:0.27, Z:0.09 [[ 9.98733572e-01 -5.02274777e-02 2.90736717e-03 2.51457458e+01] [ 5.02274064e-02 9.98737802e-01 9.75682333e-05 2.71551898e-01] [-2.90859810e-03 4.85848422e-05 9.99995769e-01 9.42070749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.508639999999996 meters Centerline goodness : 0.992852 with order 1 Centerline is valid? [True, True] Translation: X:25.21, Y:0.27, Z:0.12 [[ 9.98888014e-01 -4.70561534e-02 2.90740872e-03 2.52068701e+01] [ 4.70560724e-02 9.98892245e-01 9.63139781e-05 2.69468841e-01] [-2.90872019e-03 4.06043568e-05 9.99995769e-01 1.16343633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.568639999999995 meters Centerline goodness : 0.994582 with order 1 Centerline is valid? [True, True] Translation: X:25.27, Y:0.27, Z:0.11 [[ 9.99067035e-01 -4.30883487e-02 2.90740923e-03 2.52695270e+01] [ 4.30882509e-02 9.99071265e-01 9.62985991e-05 2.66806992e-01] [-2.90885836e-03 2.90664224e-05 9.99995769e-01 1.12199450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.628639999999994 meters Centerline goodness : 0.997440 with order 1 Centerline is valid? [True, True] Translation: X:25.33, Y:0.27, Z:0.09 [[ 9.99266863e-01 -3.81743727e-02 2.90745246e-03 2.53307913e+01] [ 3.81742580e-02 9.99271093e-01 9.49752712e-05 2.67120031e-01] [-2.90895882e-03 1.60841987e-05 9.99995769e-01 9.45227818e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.688639999999996 meters Centerline goodness : 0.997048 with order 1 Centerline is valid? [True, True] Translation: X:25.39, Y:0.27, Z:0.09 [[ 9.99416197e-01 -3.40413252e-02 2.90745550e-03 2.53932968e+01] [ 3.40411932e-02 9.99420426e-01 9.48820205e-05 2.71170208e-01] [-2.90900032e-03 4.14662640e-06 9.99995769e-01 9.24233219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.748639999999995 meters Centerline goodness : 0.988384 with order 1 Centerline is valid? [True, True] Translation: X:25.46, Y:0.28, Z:0.12 [[ 9.99476377e-01 -3.22260432e-02 2.90749752e-03 2.54554809e+01] [ 3.22259074e-02 9.99480606e-01 9.35764961e-05 2.75266649e-01] [-2.90900298e-03 1.69248305e-07 9.99995769e-01 1.21010082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.808639999999997 meters Centerline goodness : 0.993889 with order 1 Centerline is valid? [True, True] Translation: X:25.52, Y:0.28, Z:0.12 [[ 9.99220915e-01 -3.93587203e-02 2.90753947e-03 2.55178828e+01] [ 3.93586185e-02 9.99225145e-01 9.22542163e-05 2.76682327e-01] [-2.90891756e-03 2.22543943e-05 9.99995769e-01 1.17190428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.868639999999996 meters Centerline goodness : 0.996461 with order 1 Centerline is valid? [True, True] Translation: X:25.58, Y:0.28, Z:0.11 [[ 9.99226464e-01 -3.92175928e-02 2.90755179e-03 2.55800910e+01] [ 3.92174916e-02 9.99230694e-01 9.18644781e-05 2.83324114e-01] [-2.90891769e-03 2.22334700e-05 9.99995769e-01 1.14582048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.928639999999994 meters Centerline goodness : 0.997295 with order 1 Centerline is valid? [True, True] Translation: X:25.64, Y:0.29, Z:0.11 [[ 9.99291866e-01 -3.75141572e-02 2.90759305e-03 2.56431597e+01] [ 3.75140526e-02 9.99296096e-01 9.05394299e-05 2.85448064e-01] [-2.90894289e-03 1.86002826e-05 9.99995769e-01 1.11514579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.988639999999997 meters Centerline goodness : 0.989760 with order 1 Centerline is valid? [True, True] Translation: X:25.70, Y:0.29, Z:0.12 [[ 9.99286226e-01 -3.76640959e-02 2.90763947e-03 2.57036988e+01] [ 3.76639963e-02 9.99290456e-01 8.90233058e-05 2.88710103e-01] [-2.90892935e-03 2.05535589e-05 9.99995769e-01 1.22132706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.048639999999995 meters Centerline goodness : 0.996948 with order 1 Centerline is valid? [True, True] Translation: X:25.76, Y:0.29, Z:0.11 [[ 9.99347649e-01 -3.59975315e-02 2.90763956e-03 2.57643896e+01] [ 3.59974248e-02 9.99351879e-01 8.90202163e-05 2.90536469e-01] [-2.90895957e-03 1.57053926e-05 9.99995769e-01 1.12105629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.108639999999994 meters Centerline goodness : 0.996898 with order 1 Centerline is valid? [True, True] Translation: X:25.83, Y:0.30, Z:0.11 [[ 9.99479581e-01 -3.21265032e-02 2.90764021e-03 2.58268687e+01] [ 3.21263803e-02 9.99483811e-01 8.89989168e-05 2.95403602e-01] [-2.90899854e-03 4.45935507e-06 9.99995769e-01 1.12188370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.168639999999996 meters Centerline goodness : 0.917656 with order 3 Centerline is valid? [True, False] Translation: X:25.89, Y:0.33, Z:0.12 [[ 9.99466468e-01 -1.68320572e-02 -2.79903858e-02 2.58922956e+01] [ 1.58759894e-02 9.99294524e-01 -3.40353842e-02 3.27443448e-01] [ 2.85435248e-02 3.35728501e-02 9.99028594e-01 1.19744723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.228639999999995 meters Centerline goodness : 0.992017 with order 1 Centerline is valid? [False, True] Translation: X:25.93, Y:0.35, Z:0.13 [[ 9.98780173e-01 -1.55949007e-02 -4.68504521e-02 2.59335335e+01] [ 1.26823129e-02 9.98005858e-01 -6.18341863e-02 3.49546125e-01] [ 4.77213236e-02 6.11645872e-02 9.96986243e-01 1.28325119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.288639999999994 meters Centerline goodness : 0.991373 with order 1 Centerline is valid? [True, True] Translation: X:25.99, Y:0.29, Z:0.12 [[ 9.98697866e-01 -1.87379482e-02 -4.74495676e-02 2.59930099e+01] [ 1.87403898e-02 9.99824306e-01 -3.93443678e-04 2.92332562e-01] [ 4.74486033e-02 -4.96292031e-04 9.98873557e-01 1.20278439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.348639999999996 meters Centerline goodness : 0.997485 with order 1 Centerline is valid? [True, True] Translation: X:26.05, Y:0.29, Z:0.11 [[ 9.98621119e-01 -2.24592399e-02 -4.74493751e-02 2.60528383e+01] [ 2.24648343e-02 9.99747547e-01 -4.15432446e-04 2.91469234e-01] [ 4.74467266e-02 -6.51082736e-04 9.98873558e-01 1.14875995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.408639999999995 meters Centerline goodness : 0.998328 with order 1 Centerline is valid? [True, True] Translation: X:26.11, Y:0.29, Z:0.11 [[ 9.98587425e-01 -2.39105162e-02 -4.74493620e-02 2.61118188e+01] [ 2.39176769e-02 9.99713845e-01 -4.16921386e-04 2.89967075e-01] [ 4.74457529e-02 -7.18546055e-04 9.98873558e-01 1.12368296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.468639999999994 meters Centerline goodness : 0.997736 with order 1 Centerline is valid? [True, True] Translation: X:26.17, Y:0.29, Z:0.12 [[ 9.98643433e-01 -2.14445952e-02 -4.74491639e-02 2.61709257e+01] [ 2.14479555e-02 9.99769870e-01 -4.38368299e-04 2.87353729e-01] [ 4.74476450e-02 -5.79913932e-04 9.98873558e-01 1.15487744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.528639999999996 meters Centerline goodness : 0.985685 with order 1 Centerline is valid? [True, True] Translation: X:26.23, Y:0.29, Z:0.13 [[ 9.98746070e-01 -1.59650853e-02 -4.74489537e-02 2.62303904e+01] [ 1.59612354e-02 9.99872506e-01 -4.60046420e-04 2.88147664e-01] [ 4.74502489e-02 -2.97874367e-04 9.98873558e-01 1.31567212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.588639999999995 meters Centerline goodness : 0.994634 with order 1 Centerline is valid? [True, True] Translation: X:26.29, Y:0.29, Z:0.13 [[ 9.98745396e-01 -1.60072039e-02 -4.74489614e-02 2.62906130e+01] [ 1.60034392e-02 9.99871831e-01 -4.59251124e-04 2.89554661e-01] [ 4.74502312e-02 -3.00671625e-04 9.98873558e-01 1.25992726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.648639999999997 meters Centerline goodness : 0.995228 with order 1 Centerline is valid? [True, True] Translation: X:26.35, Y:0.29, Z:0.13 [[ 9.98774861e-01 -1.40490175e-02 -4.74489438e-02 2.63490341e+01] [ 1.40429585e-02 9.99901286e-01 -4.61057802e-04 2.93874959e-01] [ 4.74507374e-02 -2.05830608e-04 9.98873558e-01 1.27682984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.708639999999995 meters Centerline goodness : 0.909556 with order 3 Centerline is valid? [True, False] Translation: X:26.39, Y:0.32, Z:0.14 [[ 9.97557656e-01 -5.33271097e-04 -6.98458234e-02 2.63939751e+01] [-1.86111519e-03 9.99412884e-01 -3.42114617e-02 3.24521509e-01] [ 6.98230597e-02 3.42578966e-02 9.96970981e-01 1.37504725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.768639999999994 meters Centerline goodness : 0.997195 with order 1 Centerline is valid? [False, True] Translation: X:26.41, Y:0.34, Z:0.14 [[ 9.96991128e-01 4.61822293e-03 -7.73780475e-02 2.64091530e+01] [-8.75845484e-03 9.98542644e-01 -5.32529492e-02 3.43286415e-01] [ 7.70193462e-02 5.37704300e-02 9.95578606e-01 1.40427776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.828639999999996 meters Centerline goodness : 0.998131 with order 1 Centerline is valid? [True, True] Translation: X:26.47, Y:0.29, Z:0.14 [[ 9.96964712e-01 -7.47886337e-03 -7.74947053e-02 2.64686485e+01] [ 7.50065971e-03 9.99971870e-01 -9.80637179e-06 2.94122977e-01] [ 7.74925986e-02 -5.71484807e-04 9.96992764e-01 1.39384894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.888639999999995 meters Centerline goodness : 0.991881 with order 1 Centerline is valid? [True, True] Translation: X:26.53, Y:0.30, Z:0.16 [[ 9.96955884e-01 -8.57537100e-03 -7.74947036e-02 2.65277521e+01] [ 8.59989431e-03 9.99963020e-01 -1.72741216e-05 2.98996692e-01] [ 7.74919860e-02 -6.49224723e-04 9.96992764e-01 1.55319510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.948639999999994 meters Centerline goodness : 0.997932 with order 1 Centerline is valid? [True, True] Translation: X:26.59, Y:0.30, Z:0.15 [[ 9.96926319e-01 -1.15101984e-02 -7.74947029e-02 2.65881433e+01] [ 1.15433696e-02 9.99933373e-01 -1.99052167e-05 3.02848409e-01] [ 7.74897688e-02 -8.74705966e-04 9.96992764e-01 1.51639008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.008639999999996 meters Centerline goodness : 0.998328 with order 1 Centerline is valid? [True, True] Translation: X:26.65, Y:0.30, Z:0.15 [[ 9.96853778e-01 -1.66468022e-02 -7.74947021e-02 2.66467188e+01] [ 1.66952397e-02 9.99860625e-01 -2.28308916e-05 3.01120446e-01] [ 7.74842813e-02 -1.27103357e-03 9.96992764e-01 1.53382709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.068639999999995 meters Centerline goodness : 0.998377 with order 1 Centerline is valid? [True, True] Translation: X:26.71, Y:0.30, Z:0.16 [[ 9.96711820e-01 -2.36669318e-02 -7.74946759e-02 2.67054165e+01] [ 2.37338219e-02 9.99718312e-01 -5.78666077e-05 2.96309238e-01] [ 7.74742161e-02 -1.78156850e-03 9.96992764e-01 1.55087351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.128639999999994 meters Centerline goodness : 0.998179 with order 1 Centerline is valid? [True, True] Translation: X:26.76, Y:0.29, Z:0.16 [[ 9.96547567e-01 -2.97913307e-02 -7.74946668e-02 2.67642653e+01] [ 2.98758859e-02 9.99553614e-01 -6.82737060e-05 2.91490300e-01] [ 7.74621082e-02 -2.24718383e-03 9.96992764e-01 1.63686602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.188639999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:26.82, Y:0.29, Z:0.14 [[ 9.96662183e-01 -2.56723842e-02 -7.74946493e-02 2.68240501e+01] [ 2.57432665e-02 9.99668584e-01 -8.43380486e-05 2.87826347e-01] [ 7.74711315e-02 -1.91090887e-03 9.96992764e-01 1.43732279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.248639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:26.88, Y:0.28, Z:0.15 [[ 9.96677728e-01 -2.50616915e-02 -7.74946266e-02 2.68825285e+01] [ 2.51293861e-02 9.99684202e-01 -1.01652723e-04 2.83648769e-01] [ 7.74727015e-02 -1.84607739e-03 9.96992765e-01 1.47946272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.308639999999993 meters Centerline goodness : 0.997342 with order 1 Centerline is valid? [True, True] Translation: X:26.94, Y:0.28, Z:0.18 [[ 9.96512658e-01 -3.09372765e-02 -7.74945693e-02 2.69402758e+01] [ 3.10201295e-02 9.99518751e-01 -1.34671392e-04 2.75900197e-01] [ 7.74614414e-02 -2.26968983e-03 9.96992765e-01 1.79952565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.368639999999996 meters Centerline goodness : 0.998323 with order 1 Centerline is valid? [True, True] Translation: X:27.00, Y:0.27, Z:0.19 [[ 9.96357836e-01 -3.55760345e-02 -7.74945650e-02 2.69985073e+01] [ 3.56726916e-02 9.99363518e-01 -1.37107725e-04 2.68625256e-01] [ 7.74501188e-02 -2.62783136e-03 9.96992765e-01 1.87452245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.428639999999994 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:27.06, Y:0.27, Z:0.18 [[ 9.96580475e-01 -2.86698491e-02 -7.74944876e-02 2.70591706e+01] [ 2.87429637e-02 9.99586821e-01 -1.71971843e-04 2.69469006e-01] [ 7.74673989e-02 -2.05603746e-03 9.96992766e-01 1.80761385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.488639999999997 meters Centerline goodness : 0.998475 with order 1 Centerline is valid? [True, True] Translation: X:27.12, Y:0.26, Z:0.19 [[ 9.96663057e-01 -2.56389740e-02 -7.74944762e-02 2.71177387e+01] [ 2.57025563e-02 9.99669619e-01 -1.76981631e-04 2.63710992e-01] [ 7.74734111e-02 -1.81541508e-03 9.96992766e-01 1.88309157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.548639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.18, Y:0.26, Z:0.17 [[ 9.96815512e-01 -1.88001186e-02 -7.74944523e-02 2.71792391e+01] [ 1.88423021e-02 9.99822451e-01 -1.86872699e-04 2.56616583e-01] [ 7.74842065e-02 -1.27389628e-03 9.96992766e-01 1.70915649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.608639999999994 meters Centerline goodness : 0.998080 with order 1 Centerline is valid? [True, True] Translation: X:27.24, Y:0.25, Z:0.20 [[ 9.96846764e-01 -1.70628252e-02 -7.74944464e-02 2.72376939e+01] [ 1.70995798e-02 9.99853774e-01 -1.89294934e-04 2.50076612e-01] [ 7.74863446e-02 -1.13642443e-03 9.96992766e-01 1.98615758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.668639999999996 meters Centerline goodness : 0.998524 with order 1 Centerline is valid? [True, True] Translation: X:27.30, Y:0.25, Z:0.20 [[ 9.96949554e-01 -9.28433285e-03 -7.74944403e-02 2.72966779e+01] [ 9.29743044e-03 9.99956760e-01 -1.91784929e-04 2.47306686e-01] [ 7.74928700e-02 -5.29299268e-04 9.96992766e-01 2.02223271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.728639999999995 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:27.36, Y:0.25, Z:0.21 [[ 9.96992430e-01 8.50304999e-04 -7.74943356e-02 2.73552039e+01] [-8.70548906e-04 9.99999595e-01 -2.27449065e-04 2.47715844e-01] [ 7.74941109e-02 2.94227606e-04 9.96992766e-01 2.07580763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.788639999999994 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:27.41, Y:0.25, Z:0.21 [[ 9.96978827e-01 5.27883522e-03 -7.74942133e-02 2.74140633e+01] [-5.31523408e-03 9.99985839e-01 -2.63443849e-04 2.47495202e-01] [ 7.74917253e-02 6.74547824e-04 9.96992767e-01 2.11841521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.848639999999996 meters Centerline goodness : 0.998176 with order 1 Centerline is valid? [True, True] Translation: X:27.47, Y:0.25, Z:0.22 [[ 9.96973113e-01 6.26742879e-03 -7.74940735e-02 2.74727315e+01] [-6.30962114e-03 9.99980049e-01 -2.99621415e-04 2.50242135e-01] [ 7.74906496e-02 7.87672740e-04 9.96992768e-01 2.15938781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.908639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:27.53, Y:0.25, Z:0.20 [[ 9.96964506e-01 7.51445916e-03 -7.74939174e-02 2.75333737e+01] [-7.56321484e-03 9.99971342e-01 -3.35677054e-04 2.54672334e-01] [ 7.74891741e-02 9.20761253e-04 9.96992768e-01 2.03617811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.968639999999994 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:27.59, Y:0.26, Z:0.23 [[ 9.96992053e-01 1.24173189e-03 -7.74938953e-02 2.75921960e+01] [-1.27195862e-03 9.99999133e-01 -3.40695449e-04 2.57044312e-01] [ 7.74934051e-02 4.38239684e-04 9.96992768e-01 2.25323643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.028639999999996 meters Centerline goodness : 0.942341 with order 3 Centerline is valid? [True, False] Translation: X:27.56, Y:0.29, Z:0.23 [[ 9.97477218e-01 -9.26825296e-04 -7.09812647e-02 2.75635915e+01] [-1.54445237e-03 9.99394735e-01 -3.47531194e-02 2.87412179e-01] [ 7.09705123e-02 3.47750721e-02 9.96872048e-01 2.30801868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.088639999999995 meters Centerline goodness : 0.993197 with order 1 Centerline is valid? [False, True] Translation: X:27.58, Y:0.30, Z:0.24 [[ 9.96562365e-01 3.09205446e-03 -8.27882303e-02 2.75830268e+01] [-7.62270914e-03 9.98486538e-01 -5.44658375e-02 3.02432959e-01] [ 8.24945221e-02 5.49096744e-02 9.95077676e-01 2.37229685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.148639999999997 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:27.64, Y:0.24, Z:0.24 [[ 9.96311928e-01 -1.78052974e-02 -8.39375561e-02 2.76433461e+01] [ 1.77302214e-02 9.99841463e-01 -1.63983262e-03 2.44935829e-01] [ 8.39534465e-02 1.45553346e-04 9.96469667e-01 2.38064776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.208639999999995 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:27.70, Y:0.25, Z:0.24 [[ 9.96323438e-01 -1.71499986e-02 -8.39373894e-02 2.77026295e+01] [ 1.70718861e-02 9.99852906e-01 -1.64832002e-03 2.46859498e-01] [ 8.39533114e-02 2.09290312e-04 9.96469667e-01 2.40380044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.268639999999994 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:27.76, Y:0.25, Z:0.25 [[ 9.96365718e-01 -1.44891647e-02 -8.39369975e-02 2.77605447e+01] [ 1.43999653e-02 9.99894924e-01 -1.66804267e-03 2.48570496e-01] [ 8.39523462e-02 4.53290678e-04 9.96469667e-01 2.47327696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.328639999999996 meters Centerline goodness : 0.997835 with order 1 Centerline is valid? [True, True] Translation: X:27.82, Y:0.25, Z:0.26 [[ 9.96424836e-01 -9.60083498e-03 -8.39367059e-02 2.78191077e+01] [ 9.49309724e-03 9.99953524e-01 -1.68258819e-03 2.49827138e-01] [ 8.39489591e-02 8.79753347e-04 9.96469668e-01 2.55556947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.388639999999995 meters Centerline goodness : 0.996403 with order 1 Centerline is valid? [True, True] Translation: X:27.88, Y:0.26, Z:0.27 [[ 9.96465231e-01 -3.42215083e-03 -8.39364818e-02 2.78783058e+01] [ 3.29159959e-03 9.99993148e-01 -1.69369540e-03 2.55924691e-01] [ 8.39417028e-02 1.41142329e-03 9.96469668e-01 2.65050675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.448639999999994 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:27.94, Y:0.26, Z:0.26 [[ 9.96458238e-01 5.06518355e-03 -8.39364278e-02 2.79389951e+01] [-5.22600313e-03 9.99984906e-01 -1.69636449e-03 2.62859006e-01] [ 8.39265685e-02 2.12900841e-03 9.96469668e-01 2.63763817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.508639999999996 meters Centerline goodness : 0.997982 with order 1 Centerline is valid? [True, True] Translation: X:28.00, Y:0.27, Z:0.27 [[ 9.96429341e-01 9.12418061e-03 -8.39363952e-02 2.79969749e+01] [-9.29950054e-03 9.99955317e-01 -1.69797943e-03 2.72276679e-01] [ 8.39171520e-02 2.47248307e-03 9.96469668e-01 2.69482999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.568639999999995 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:28.06, Y:0.29, Z:0.23 [[ 9.95994350e-01 3.08232711e-02 -8.39355724e-02 2.80603842e+01] [-3.10786821e-02 9.99515431e-01 -1.73772283e-03 2.86109224e-01] [ 8.38413375e-02 4.33936910e-03 9.96469668e-01 2.25727189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.628639999999994 meters Centerline goodness : 0.996015 with order 1 Centerline is valid? [True, True] Translation: X:28.12, Y:0.29, Z:0.28 [[ 9.96388852e-01 1.28096060e-02 -8.39355105e-02 2.81156166e+01] [-1.30015617e-02 9.99913961e-01 -1.74070847e-03 2.89300399e-01] [ 8.39059910e-02 2.82571524e-03 9.96469668e-01 2.82122036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.688639999999996 meters Centerline goodness : 0.995081 with order 1 Centerline is valid? [True, True] Translation: X:28.17, Y:0.30, Z:0.29 [[ 9.96407036e-01 1.13073708e-02 -8.39354583e-02 2.81735025e+01] [-1.14942231e-02 9.99932420e-01 -1.74322119e-03 3.03678206e-01] [ 8.39100747e-02 2.70173074e-03 9.96469668e-01 2.87626604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.748639999999995 meters Centerline goodness : 0.997390 with order 1 Centerline is valid? [True, True] Translation: X:28.23, Y:0.31, Z:0.29 [[ 9.96418708e-01 1.02341759e-02 -8.39346167e-02 2.82325419e+01] [-1.04205655e-02 9.99944115e-01 -1.78284526e-03 3.11300523e-01] [ 8.39116801e-02 2.65110654e-03 9.96469669e-01 2.89940648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.808639999999993 meters Centerline goodness : 0.996659 with order 1 Centerline is valid? [True, True] Translation: X:28.29, Y:0.33, Z:0.30 [[ 9.96418231e-01 1.02825100e-02 -8.39343747e-02 2.82912532e+01] [-1.04700236e-02 9.99943578e-01 -1.79417107e-03 3.26972916e-01] [ 8.39111903e-02 2.66653965e-03 9.96469669e-01 2.98714353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.868639999999996 meters Centerline goodness : 0.845555 with order 3 Centerline is valid? [True, False] Translation: X:28.21, Y:0.39, Z:0.31 [[ 9.97621497e-01 -1.82465180e-03 -6.89058759e-02 2.82112659e+01] [-2.44400488e-03 9.98084693e-01 -6.18140149e-02 3.86829236e-01] [ 6.88866890e-02 6.18353964e-02 9.95706286e-01 3.14938380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.928639999999994 meters Centerline goodness : 0.997005 with order 1 Centerline is valid? [False, True] Translation: X:28.21, Y:0.42, Z:0.33 [[ 9.96889775e-01 -1.59351373e-02 -7.71806128e-02 2.82081397e+01] [ 8.10946162e-03 9.94887276e-01 -1.00665513e-01 4.24569308e-01] [ 7.83901283e-02 9.97265278e-02 9.91922178e-01 3.34295480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.988639999999997 meters Centerline goodness : 0.997495 with order 1 Centerline is valid? [True, True] Translation: X:28.27, Y:0.34, Z:0.31 [[ 9.96645611e-01 -1.16064596e-02 -8.10112163e-02 2.82728070e+01] [ 1.14130677e-02 9.99930808e-01 -2.84988531e-03 3.43815256e-01] [ 8.10386880e-02 1.91573919e-03 9.96709116e-01 3.10610478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.04863999999999 meters Centerline goodness : 0.998331 with order 1 Centerline is valid? [True, True] Translation: X:28.33, Y:0.36, Z:0.31 [[ 9.96601223e-01 -1.49403749e-02 -8.10110339e-02 2.83321025e+01] [ 1.47575534e-02 9.99887025e-01 -2.85505962e-03 3.55962380e-01] [ 8.10445374e-02 1.64983125e-03 9.96709116e-01 3.08637384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.108639999999994 meters Centerline goodness : 0.996663 with order 1 Centerline is valid? [True, True] Translation: X:28.39, Y:0.37, Z:0.32 [[ 9.96592227e-01 -1.55309868e-02 -8.10106261e-02 2.83912617e+01] [ 1.53491759e-02 9.99878085e-01 -2.86658537e-03 3.68285270e-01] [ 8.10452706e-02 1.61337035e-03 9.96709116e-01 3.23173166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.168639999999996 meters Centerline goodness : 0.997051 with order 1 Centerline is valid? [True, True] Translation: X:28.45, Y:0.38, Z:0.33 [[ 9.96640652e-01 -1.20291236e-02 -8.10105560e-02 2.84493316e+01] [ 1.18356073e-02 9.99925842e-01 -2.86856545e-03 3.83294570e-01] [ 8.10390547e-02 1.90011981e-03 9.96709116e-01 3.28365683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22863999999999 meters Centerline goodness : 0.996025 with order 1 Centerline is valid? [True, True] Translation: X:28.51, Y:0.39, Z:0.33 [[ 9.96629264e-01 -1.29464673e-02 -8.10092503e-02 2.85083638e+01] [ 1.27530168e-02 9.99914457e-01 -2.90497700e-03 3.93161642e-01] [ 8.10399297e-02 1.86207275e-03 9.96709116e-01 3.34780574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.288639999999994 meters Centerline goodness : 0.995275 with order 1 Centerline is valid? [True, True] Translation: X:28.57, Y:0.41, Z:0.34 [[ 9.96567136e-01 -1.70726689e-02 -8.10090621e-02 2.85659471e+01] [ 1.68923959e-02 9.99853078e-01 -2.91021645e-03 4.05742682e-01] [ 8.10468452e-02 1.53178892e-03 9.96709116e-01 3.43763730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.348639999999996 meters Centerline goodness : 0.996519 with order 1 Centerline is valid? [True, True] Translation: X:28.63, Y:0.41, Z:0.35 [[ 9.96467860e-01 -2.21223490e-02 -8.10086809e-02 2.86260328e+01] [ 2.19578698e-02 9.99754630e-01 -2.92079030e-03 4.12723737e-01] [ 8.10534185e-02 1.13169559e-03 9.96709116e-01 3.45354038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.40864 meters Centerline goodness : 0.996663 with order 1 Centerline is valid? [True, True] Translation: X:28.68, Y:0.42, Z:0.35 [[ 9.96287352e-01 -2.91397144e-02 -8.10085710e-02 2.86846192e+01] [ 2.89981399e-02 9.99575189e-01 -2.92383273e-03 4.15875050e-01] [ 8.10593574e-02 5.63879693e-04 9.96709116e-01 3.50902931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.46863999999999 meters Centerline goodness : 0.997052 with order 1 Centerline is valid? [True, True] Translation: X:28.74, Y:0.41, Z:0.35 [[ 9.96157744e-01 -3.32779245e-02 -8.10081962e-02 2.87449026e+01] [ 3.31491668e-02 9.99446108e-01 -2.93418298e-03 4.14533577e-01] [ 8.10609699e-02 2.37554894e-04 9.96709116e-01 3.53304471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.528639999999996 meters Centerline goodness : 0.997153 with order 1 Centerline is valid? [True, True] Translation: X:28.80, Y:0.41, Z:0.36 [[ 9.96192188e-01 -3.22305514e-02 -8.10081273e-02 2.88042933e+01] [ 3.20981819e-02 9.99480408e-01 -2.93608311e-03 4.13330004e-01] [ 8.10606677e-02 3.24689452e-04 9.96709116e-01 3.61771420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.58864 meters Centerline goodness : 0.996711 with order 1 Centerline is valid? [True, True] Translation: X:28.86, Y:0.41, Z:0.37 [[ 9.96306929e-01 -2.84643092e-02 -8.10079386e-02 2.88625895e+01] [ 2.83190874e-02 9.99594607e-01 -2.94127920e-03 4.13536871e-01] [ 8.10588200e-02 6.36345951e-04 9.96709116e-01 3.66906821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.64863999999999 meters Centerline goodness : 0.996371 with order 1 Centerline is valid? [True, True] Translation: X:28.92, Y:0.41, Z:0.37 [[ 9.96313534e-01 -2.82360396e-02 -8.10065869e-02 2.89209081e+01] [ 2.80870751e-02 9.99601044e-01 -2.97804912e-03 4.14058131e-01] [ 8.10583572e-02 6.91832557e-04 9.96709117e-01 3.72828426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.708639999999995 meters Centerline goodness : 0.995189 with order 1 Centerline is valid? [True, True] Translation: X:28.98, Y:0.41, Z:0.38 [[ 9.96371649e-01 -2.61092407e-02 -8.10052139e-02 2.89792350e+01] [ 2.59502602e-02 9.99658689e-01 -3.01493961e-03 4.14587276e-01] [ 8.10562837e-02 9.01893976e-04 9.96709118e-01 3.79940555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76864 meters Centerline goodness : 0.992583 with order 1 Centerline is valid? [True, True] Translation: X:29.04, Y:0.42, Z:0.39 [[ 9.96516406e-01 -1.98310386e-02 -8.10048273e-02 2.90386777e+01] [ 1.96505099e-02 9.99802333e-01 -3.02529131e-03 4.24725775e-01] [ 8.10488100e-02 1.42296627e-03 9.96709118e-01 3.90177671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82863999999999 meters Centerline goodness : 0.994209 with order 1 Centerline is valid? [True, True] Translation: X:29.10, Y:0.43, Z:0.39 [[ 9.96472431e-01 -2.19300271e-02 -8.10047442e-02 2.90982094e+01] [ 2.17562393e-02 9.99758721e-01 -3.02751623e-03 4.30096241e-01] [ 8.10515929e-02 1.25447786e-03 9.96709118e-01 3.93953410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.888639999999995 meters Centerline goodness : 0.991854 with order 1 Centerline is valid? [True, True] Translation: X:29.16, Y:0.43, Z:0.40 [[ 9.96349166e-01 -2.69552688e-02 -8.10046470e-02 2.91578920e+01] [ 2.67978457e-02 9.99636281e-01 -3.03011458e-03 4.32922427e-01] [ 8.10568616e-02 8.48302104e-04 9.96709118e-01 4.02944218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94864 meters Centerline goodness : 0.997990 with order 1 Centerline is valid? [True, True] Translation: X:29.22, Y:0.43, Z:0.40 [[ 9.96080324e-01 -3.55281682e-02 -8.10045499e-02 2.92186166e+01] [ 3.53988268e-02 9.99368664e-01 -3.03270737e-03 4.32656019e-01] [ 8.10611553e-02 1.53354107e-04 9.96709118e-01 4.00024216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:29.28, Y:0.43, Z:0.38 [[ 9.95873156e-01 -4.09258361e-02 -8.10045281e-02 2.92804223e+01] [ 4.08142702e-02 9.99162146e-01 -3.03328982e-03 4.29916079e-01] [ 8.10607981e-02 -2.85368788e-04 9.96709118e-01 3.79059253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.068639999999995 meters Centerline goodness : 0.996163 with order 1 Centerline is valid? [True, True] Translation: X:29.34, Y:0.42, Z:0.42 [[ 9.95469160e-01 -4.97939688e-02 -8.10043998e-02 2.93378769e+01] [ 4.97114222e-02 9.98759006e-01 -3.03671262e-03 4.24357841e-01] [ 8.10550838e-02 -1.00389016e-03 9.96709118e-01 4.15345355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12864 meters Centerline goodness : 0.991852 with order 1 Centerline is valid? [True, True] Translation: X:29.40, Y:0.43, Z:0.41 [[ 9.96590354e-01 -1.56835685e-02 -8.10042731e-02 2.93969351e+01] [ 1.54881639e-02 9.99875430e-01 -3.04008802e-03 4.34734259e-01] [ 8.10418618e-02 1.77511495e-03 9.96709118e-01 4.07140214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18863999999999 meters Centerline goodness : 0.996616 with order 1 Centerline is valid? [True, True] Translation: X:29.46, Y:0.41, Z:0.42 [[ 9.95526091e-01 -4.86449390e-02 -8.10029139e-02 2.94555723e+01] [ 4.85554083e-02 9.98815754e-01 -3.07588414e-03 4.14045630e-01] [ 8.10566127e-02 -8.71006647e-04 9.96709118e-01 4.24019804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.248639999999995 meters Centerline goodness : 0.996909 with order 1 Centerline is valid? [True, True] Translation: X:29.51, Y:0.41, Z:0.43 [[ 9.95442677e-01 -5.03252397e-02 -8.10015271e-02 2.95145704e+01] [ 5.02383248e-02 9.98732410e-01 -3.11198298e-03 4.06164981e-01] [ 8.10554616e-02 -9.71580361e-04 9.96709119e-01 4.25456404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.30864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.58, Y:0.40, Z:0.40 [[ 9.95895050e-01 -4.03983778e-02 -8.10001310e-02 2.95768256e+01] [ 4.02757474e-02 9.99183644e-01 -3.14790704e-03 3.97491405e-01] [ 8.10611764e-02 -1.27355773e-04 9.96709120e-01 4.01876436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36863999999999 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:29.63, Y:0.39, Z:0.43 [[ 9.95896327e-01 -4.03669945e-02 -8.10000671e-02 2.96344923e+01] [ 4.02441268e-02 9.99184913e-01 -3.14955148e-03 3.88072317e-01] [ 8.10611829e-02 -1.23150213e-04 9.96709120e-01 4.30326671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.428639999999994 meters Centerline goodness : 0.997736 with order 1 Centerline is valid? [True, True] Translation: X:29.69, Y:0.39, Z:0.44 [[ 9.95842716e-01 -4.16699180e-02 -8.09994008e-02 2.96935708e+01] [ 4.15499667e-02 9.99131409e-01 -3.16659455e-03 3.86201732e-01] [ 8.10609972e-02 -2.12092281e-04 9.96709120e-01 4.38406579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48864 meters Centerline goodness : 0.997444 with order 1 Centerline is valid? [True, True] Translation: X:29.75, Y:0.39, Z:0.44 [[ 9.95960662e-01 -3.87490495e-02 -8.09992022e-02 2.97531650e+01] [ 3.86190408e-02 9.99248973e-01 -3.17166622e-03 3.85280040e-01] [ 8.10612687e-02 3.07432945e-05 9.96709120e-01 4.43207661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54863999999999 meters Centerline goodness : 0.996108 with order 1 Centerline is valid? [True, True] Translation: X:29.81, Y:0.38, Z:0.45 [[ 9.96159266e-01 -3.32547548e-02 -8.09990014e-02 2.98108662e+01] [ 3.31061935e-02 9.99446791e-01 -3.17678671e-03 3.83781681e-01] [ 8.10598353e-02 4.83016902e-04 9.96709120e-01 4.49237204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.608639999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:29.87, Y:0.39, Z:0.43 [[ 9.96437613e-01 -2.34843223e-02 -8.09973478e-02 2.98723910e+01] [ 2.33001470e-02 9.99723334e-01 -3.21840321e-03 3.86732196e-01] [ 8.10505207e-02 1.31968790e-03 9.96709121e-01 4.29752279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.668639999999996 meters Centerline goodness : 0.998524 with order 1 Centerline is valid? [True, True] Translation: X:29.93, Y:0.39, Z:0.46 [[ 9.96469957e-01 -2.20696917e-02 -8.09972434e-02 2.99301564e+01] [ 2.18806385e-02 9.99755401e-01 -3.22102944e-03 3.91185804e-01] [ 8.10485187e-02 1.43738767e-03 9.96709121e-01 4.55336710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.72863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:29.99, Y:0.40, Z:0.44 [[ 9.96594804e-01 -1.54356803e-02 -8.09971413e-02 2.99913201e+01] [ 1.52245517e-02 9.99878903e-01 -3.22359505e-03 3.98675572e-01] [ 8.10370912e-02 1.97947291e-03 9.96709121e-01 4.41916187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.788639999999994 meters Centerline goodness : 0.996609 with order 1 Centerline is valid? [True, True] Translation: X:30.05, Y:0.40, Z:0.47 [[ 9.96509053e-01 -2.02283710e-02 -8.09970374e-02 3.00489490e+01] [ 2.00328270e-02 9.99794118e-01 -3.22620251e-03 4.04411568e-01] [ 8.10456224e-02 1.59234037e-03 9.96709121e-01 4.71265019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.848639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:30.11, Y:0.41, Z:0.45 [[ 9.96489773e-01 -2.11575485e-02 -8.09968531e-02 3.01110772e+01] [ 2.09646923e-02 9.99774996e-01 -3.23082325e-03 4.09725451e-01] [ 8.10469848e-02 1.52140823e-03 9.96709121e-01 4.52078954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90863999999999 meters Centerline goodness : 0.997025 with order 1 Centerline is valid? [True, True] Translation: X:30.17, Y:0.41, Z:0.48 [[ 9.96175992e-01 -3.27554060e-02 -8.09967649e-02 3.01691087e+01] [ 3.26006236e-02 9.99463229e-01 -3.23303354e-03 4.13707279e-01] [ 8.10591875e-02 5.80125352e-04 9.96709121e-01 4.81650526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96863999999999 meters Centerline goodness : 0.995971 with order 1 Centerline is valid? [True, True] Translation: X:30.23, Y:0.41, Z:0.49 [[ 9.95722089e-01 -4.44643853e-02 -8.09965381e-02 3.02275070e+01] [ 4.43477977e-02 9.99010903e-01 -3.23870580e-03 4.09302818e-01] [ 8.10604317e-02 -3.67167175e-04 9.96709121e-01 4.86257924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.028639999999996 meters Centerline goodness : 0.996559 with order 1 Centerline is valid? [True, True] Translation: X:30.29, Y:0.40, Z:0.49 [[ 9.95338620e-01 -5.23531636e-02 -8.09949277e-02 3.02867659e+01] [ 5.22594032e-02 9.98628162e-01 -3.27849288e-03 4.04098577e-01] [ 8.10554552e-02 -9.69536010e-04 9.96709122e-01 4.93250562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08864 meters Centerline goodness : 0.995532 with order 1 Centerline is valid? [True, True] Translation: X:30.35, Y:0.40, Z:0.50 [[ 9.95272070e-01 -5.36037548e-02 -8.09947175e-02 3.03456149e+01] [ 5.35137060e-02 9.98561716e-01 -3.28367640e-03 3.99096370e-01] [ 8.10542415e-02 -1.06617610e-03 9.96709122e-01 4.98833543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14863999999999 meters Centerline goodness : 0.993259 with order 1 Centerline is valid? [True, True] Translation: X:30.41, Y:0.39, Z:0.50 [[ 9.95062136e-01 -5.73710975e-02 -8.09932289e-02 3.04058057e+01] [ 5.72905476e-02 9.98352027e-01 -3.31999197e-03 3.87357982e-01] [ 8.10502259e-02 -1.33654814e-03 9.96709122e-01 5.04870969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.208639999999995 meters Centerline goodness : 0.994493 with order 1 Centerline is valid? [True, True] Translation: X:30.47, Y:0.37, Z:0.51 [[ 9.94766863e-01 -6.22816423e-02 -8.09931237e-02 3.04650153e+01] [ 6.22171222e-02 9.98057108e-01 -3.32255699e-03 3.71381583e-01] [ 8.10426971e-02 -1.73398949e-03 9.96709122e-01 5.06867692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:30.53, Y:0.36, Z:0.49 [[ 9.95149308e-01 -5.58409283e-02 -8.09916433e-02 3.05277298e+01] [ 5.57522056e-02 9.98438988e-01 -3.35826230e-03 3.63501481e-01] [ 8.10527429e-02 -1.17349035e-03 9.96709123e-01 4.85253524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.32863999999999 meters Centerline goodness : 0.992076 with order 1 Centerline is valid? [True, True] Translation: X:30.59, Y:0.36, Z:0.52 [[ 9.95417531e-01 -5.08359445e-02 -8.09916356e-02 3.05853478e+01] [ 5.07306652e-02 9.98706724e-01 -3.35844674e-03 3.60371647e-01] [ 8.10576209e-02 -7.65702783e-04 9.96709123e-01 5.18438892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.388639999999995 meters Centerline goodness : 0.992131 with order 1 Centerline is valid? [True, True] Translation: X:30.65, Y:0.35, Z:0.52 [[ 9.95566444e-01 -4.78314252e-02 -8.09914187e-02 3.06455435e+01] [ 4.77157943e-02 9.98855289e-01 -3.36366917e-03 3.51640307e-01] [ 8.10595961e-02 -5.15813720e-04 9.96709123e-01 5.23012877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.44864 meters Centerline goodness : 0.994443 with order 1 Centerline is valid? [True, True] Translation: X:30.71, Y:0.34, Z:0.53 [[ 9.95599238e-01 -4.71440886e-02 -8.09913091e-02 3.07060266e+01] [ 4.70259727e-02 9.98887995e-01 -3.36630653e-03 3.40470351e-01] [ 8.10599478e-02 -4.57202870e-04 9.96709123e-01 5.26496712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.50863999999999 meters Centerline goodness : 0.994244 with order 1 Centerline is valid? [True, True] Translation: X:30.77, Y:0.34, Z:0.53 [[ 9.95863322e-01 -4.11907189e-02 -8.09911678e-02 3.07656504e+01] [ 4.10526660e-02 9.99151302e-01 -3.36970205e-03 3.36936846e-01] [ 8.10612312e-02 3.08593198e-05 9.96709123e-01 5.31609838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.568639999999995 meters Centerline goodness : 0.993501 with order 1 Centerline is valid? [True, True] Translation: X:30.83, Y:0.34, Z:0.54 [[ 9.96221660e-01 -3.13507644e-02 -8.09909448e-02 3.08250080e+01] [ 3.11798017e-02 9.99508093e-01 -3.37505490e-03 3.37827026e-01] [ 8.10569154e-02 8.37021195e-04 9.96709123e-01 5.39405237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.62864 meters Centerline goodness : 0.996836 with order 1 Centerline is valid? [True, True] Translation: X:30.89, Y:0.34, Z:0.54 [[ 9.96496240e-01 -2.08745429e-02 -8.09907227e-02 3.08853926e+01] [ 2.06686031e-02 9.99780667e-01 -3.38037582e-03 3.39128596e-01] [ 8.10435226e-02 1.69456669e-03 9.96709123e-01 5.36574900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.68863999999999 meters Centerline goodness : 0.993738 with order 1 Centerline is valid? [True, True] Translation: X:30.94, Y:0.34, Z:0.55 [[ 9.96606167e-01 -1.47198223e-02 -8.09905791e-02 3.09446250e+01] [ 1.44933229e-02 9.99889241e-01 -3.38381236e-03 3.44144679e-01] [ 8.10314178e-02 2.19850565e-03 9.96709123e-01 5.46503704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.748639999999995 meters Centerline goodness : 0.830874 with order 3 Centerline is valid? [True, False] Translation: X:30.90, Y:0.38, Z:0.55 [[ 9.97664214e-01 -1.36512369e-02 -6.69310077e-02 3.08983259e+01] [ 1.12028336e-02 9.99259086e-01 -3.68208461e-02 3.77350419e-01] [ 6.73840677e-02 3.59850235e-02 9.97077964e-01 5.51392948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80864 meters Centerline goodness : 0.827321 with order 3 Centerline is valid? [False, False] Translation: X:30.82, Y:0.41, Z:0.56 [[ 9.99236082e-01 -1.67061863e-02 -3.53292562e-02 3.08184494e+01] [ 1.42530332e-02 9.97543561e-01 -6.85834853e-02 4.06478606e-01] [ 3.63882406e-02 6.80275440e-02 9.97019633e-01 5.56059639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:30.76, Y:0.42, Z:0.56 [[ 9.99579345e-01 -2.23791091e-02 -1.84474496e-02 3.07614977e+01] [ 2.06832020e-02 9.95950570e-01 -8.74909539e-02 4.20929884e-01] [ 2.03307176e-02 8.70725980e-02 9.95994490e-01 5.62031579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.928639999999994 meters Centerline goodness : 0.996363 with order 1 Centerline is valid? [True, True] Translation: X:30.82, Y:0.35, Z:0.57 [[ 9.99303884e-01 -2.94381933e-02 -2.29159566e-02 3.08244366e+01] [ 2.94192513e-02 9.99566483e-01 -1.16335133e-03 3.45327415e-01] [ 2.29402691e-02 4.88371213e-04 9.99736718e-01 5.67722655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98864 meters Centerline goodness : 0.992608 with order 1 Centerline is valid? [True, True] Translation: X:30.88, Y:0.35, Z:0.57 [[ 9.99142030e-01 -3.44974635e-02 -2.29157018e-02 3.08846188e+01] [ 3.44797367e-02 9.99404714e-01 -1.16834934e-03 3.47621042e-01] [ 2.29423655e-02 3.77219571e-04 9.99736718e-01 5.74758121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.04863999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:30.95, Y:0.35, Z:0.55 [[ 9.99162024e-01 -3.39134167e-02 -2.29156942e-02 3.09450767e+01] [ 3.38955329e-02 9.99424698e-01 -1.16849878e-03 3.51595658e-01] [ 2.29421385e-02 3.90779945e-04 9.99736718e-01 5.48756107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.108639999999994 meters Centerline goodness : 0.997540 with order 1 Centerline is valid? [True, True] Translation: X:31.00, Y:0.36, Z:0.57 [[ 9.99165629e-01 -3.38070788e-02 -2.29156650e-02 3.10038452e+01] [ 3.37891540e-02 9.99428300e-01 -1.16907050e-03 3.57104915e-01] [ 2.29420870e-02 3.93794130e-04 9.99736718e-01 5.67820209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.168639999999996 meters Centerline goodness : 0.996755 with order 1 Centerline is valid? [True, True] Translation: X:31.06, Y:0.37, Z:0.57 [[ 9.99238967e-01 -3.15652260e-02 -2.29155890e-02 3.10634613e+01] [ 3.15466778e-02 9.99501594e-01 -1.17055809e-03 3.66953760e-01] [ 2.29411167e-02 4.46756554e-04 9.99736718e-01 5.74858723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.22863999999999 meters Centerline goodness : 0.997294 with order 1 Centerline is valid? [True, True] Translation: X:31.12, Y:0.38, Z:0.58 [[ 9.99207401e-01 -3.25491631e-02 -2.29155496e-02 3.11217996e+01] [ 3.25308558e-02 9.99470045e-01 -1.17132941e-03 3.78163308e-01] [ 2.29415312e-02 4.24938574e-04 9.99736718e-01 5.76414158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.288639999999994 meters Centerline goodness : 0.996017 with order 1 Centerline is valid? [True, True] Translation: X:31.18, Y:0.39, Z:0.58 [[ 9.98935489e-01 -4.00346659e-02 -2.29153940e-02 3.11802405e+01] [ 4.00182573e-02 9.99198259e-01 -1.17436479e-03 3.87866885e-01] [ 2.29440371e-02 2.56080536e-04 9.99736718e-01 5.78931078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.348639999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:31.24, Y:0.40, Z:0.56 [[ 9.98775256e-01 -4.38506532e-02 -2.29152376e-02 3.12407356e+01] [ 4.38351788e-02 9.99038083e-01 -1.17740966e-03 3.98034348e-01] [ 2.29448252e-02 1.71474103e-04 9.99736718e-01 5.55833206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40863999999999 meters Centerline goodness : 0.997247 with order 1 Centerline is valid? [True, True] Translation: X:31.30, Y:0.40, Z:0.58 [[ 9.98578251e-01 -4.81286627e-02 -2.29152362e-02 3.13001866e+01] [ 4.81143136e-02 9.98841142e-01 -1.17743701e-03 4.03856831e-01] [ 2.29453491e-02 7.32121362e-05 9.99736718e-01 5.79081344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46863999999999 meters Centerline goodness : 0.997246 with order 1 Centerline is valid? [True, True] Translation: X:31.36, Y:0.41, Z:0.58 [[ 9.98497336e-01 -4.97791393e-02 -2.29151983e-02 3.13591309e+01] [ 4.97652078e-02 9.98760250e-01 -1.17817365e-03 4.10562419e-01] [ 2.29454376e-02 3.60236434e-05 9.99736718e-01 5.82264771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.528639999999996 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:31.42, Y:0.42, Z:0.58 [[ 9.98475921e-01 -5.02069072e-02 -2.29150831e-02 3.14178524e+01] [ 5.01930371e-02 9.98738838e-01 -1.18040960e-03 4.21740417e-01] [ 2.29454482e-02 2.84329497e-05 9.99736718e-01 5.80597994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.58863999999999 meters Centerline goodness : 0.971159 with order 1 Centerline is valid? [True, True] Translation: X:31.47, Y:0.46, Z:0.56 [[ 9.99452106e-01 2.38828870e-02 -2.29149687e-02 3.14746033e+01] [-2.39162423e-02 9.99713266e-01 -1.18262633e-03 4.60870692e-01] [ 2.28801537e-02 1.73001832e-03 9.99736718e-01 5.64584729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.64863999999999 meters Centerline goodness : 0.843145 with order 3 Centerline is valid? [True, False] Translation: X:31.47, Y:0.46, Z:0.56 [[ 9.99874678e-01 8.78540434e-03 -1.31698588e-02 3.14699338e+01] [-8.77326760e-03 9.99961035e-01 9.79046068e-04 4.55144457e-01] [ 1.31779469e-02 -8.63380677e-04 9.99912794e-01 5.62195976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.708639999999995 meters Centerline goodness : 0.994103 with order 1 Centerline is valid? [False, True] Translation: X:31.50, Y:0.47, Z:0.57 [[ 9.99801855e-01 -2.85821194e-05 -1.99060457e-02 3.14999430e+01] [-3.56224821e-04 9.99813146e-01 -1.93273451e-02 4.65110709e-01] [ 1.99028786e-02 1.93306065e-02 9.99615027e-01 5.67512633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76864 meters Centerline goodness : 0.995963 with order 1 Centerline is valid? [True, True] Translation: X:31.56, Y:0.44, Z:0.56 [[ 9.99807851e-01 3.77823012e-04 -1.95989535e-02 3.15586859e+01] [-3.71813610e-04 9.99999883e-01 3.10261546e-04 4.41984238e-01] [ 1.95990685e-02 -3.02914771e-04 9.99807874e-01 5.59825356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82863999999999 meters Centerline goodness : 0.995578 with order 1 Centerline is valid? [True, True] Translation: X:31.62, Y:0.43, Z:0.56 [[ 9.99800626e-01 3.81890918e-03 -1.95990835e-02 3.16177057e+01] [-3.81372612e-03 9.99992682e-01 3.01823442e-04 4.32390552e-01] [ 1.96000927e-02 -2.27017730e-04 9.99807874e-01 5.62343667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.888639999999995 meters Centerline goodness : 0.982377 with order 1 Centerline is valid? [True, True] Translation: X:31.68, Y:0.45, Z:0.55 [[ 9.98006033e-01 5.99985702e-02 -1.95992035e-02 3.16781231e+01] [-6.00043452e-02 9.98198073e-01 2.93817568e-04 4.51036009e-01] [ 1.95815158e-02 8.82805667e-04 9.99807874e-01 5.46215138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.94864 meters Centerline goodness : 0.994882 with order 1 Centerline is valid? [True, True] Translation: X:31.74, Y:0.42, Z:0.56 [[ 9.99780636e-01 7.38581640e-03 -1.95992128e-02 3.17373993e+01] [-7.38148768e-03 9.99972713e-01 2.93196329e-04 4.21509444e-01] [ 1.96008435e-02 -1.48460665e-04 9.99807874e-01 5.64408682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00863999999999 meters Centerline goodness : 0.996460 with order 1 Centerline is valid? [True, True] Translation: X:31.80, Y:0.42, Z:0.56 [[ 9.99782773e-01 7.09063237e-03 -1.95992406e-02 3.17957701e+01] [-7.08628365e-03 9.99974850e-01 2.91323623e-04 4.19406866e-01] [ 1.96008134e-02 -1.52374561e-04 9.99807874e-01 5.63785411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.068639999999995 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:31.86, Y:0.42, Z:0.54 [[ 9.99790862e-01 5.83922719e-03 -1.95993697e-02 3.18567046e+01] [-5.83481370e-03 9.99982937e-01 2.82362641e-04 4.16004396e-01] [ 1.96006841e-02 -1.67944918e-04 9.99807874e-01 5.41375773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12864 meters Centerline goodness : 0.994737 with order 1 Centerline is valid? [True, True] Translation: X:31.92, Y:0.41, Z:0.57 [[ 9.99806295e-01 1.79890901e-03 -1.95993763e-02 3.19164241e+01] [-1.79372835e-03 9.99998352e-01 2.81904569e-04 4.13236719e-01] [ 1.95998511e-02 -2.46694006e-04 9.99807874e-01 5.69289286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18863999999999 meters Centerline goodness : 0.989137 with order 1 Centerline is valid? [True, True] Translation: X:31.98, Y:0.41, Z:0.57 [[ 9.99801168e-01 3.67258543e-03 -1.95993814e-02 3.19754161e+01] [-3.66777164e-03 9.99993234e-01 2.81550563e-04 4.11018801e-01] [ 1.96002828e-02 -2.09608527e-04 9.99807874e-01 5.74475284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.248639999999995 meters Centerline goodness : 0.997146 with order 1 Centerline is valid? [True, True] Translation: X:32.04, Y:0.41, Z:0.57 [[ 9.99807531e-01 -8.72226019e-04 -1.95995058e-02 3.20361856e+01] [ 8.77737573e-04 9.99999578e-01 2.72608138e-04 4.05636415e-01] [ 1.95992597e-02 -2.89758892e-04 9.99807874e-01 5.68414535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30864 meters Centerline goodness : 0.995229 with order 1 Centerline is valid? [True, True] Translation: X:32.09, Y:0.40, Z:0.57 [[ 9.99807911e-01 -3.81269103e-05 -1.95995058e-02 3.20939137e+01] [ 4.34782453e-05 9.99999962e-01 2.72608138e-04 4.02406204e-01] [ 1.95994946e-02 -2.73407925e-04 9.99807874e-01 5.72557429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36863999999999 meters Centerline goodness : 0.995077 with order 1 Centerline is valid? [True, True] Translation: X:32.15, Y:0.39, Z:0.57 [[ 9.99807831e-01 -3.92996383e-04 -1.95996394e-02 3.21515705e+01] [ 3.98220469e-04 9.99999886e-01 2.62637723e-04 3.94704039e-01] [ 1.95995339e-02 -2.70392230e-04 9.99807874e-01 5.73262656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.428639999999994 meters Centerline goodness : 0.997344 with order 1 Centerline is valid? [True, True] Translation: X:32.21, Y:0.39, Z:0.57 [[ 9.99807600e-01 7.82335081e-04 -1.95997682e-02 3.22105352e+01] [-7.77532673e-04 9.99999666e-01 2.52642970e-04 3.89668604e-01] [ 1.95999593e-02 -2.37354901e-04 9.99807874e-01 5.72345750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48864 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:32.27, Y:0.38, Z:0.55 [[ 9.99805785e-01 2.05937349e-03 -1.95997924e-02 3.22686410e+01] [-2.05485347e-03 9.99997857e-01 2.50752081e-04 3.83293651e-01] [ 1.96002668e-02 -2.10428680e-04 9.99807874e-01 5.49848736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54863999999999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:32.33, Y:0.38, Z:0.55 [[ 9.99807038e-01 1.31533122e-03 -1.95999168e-02 3.23274084e+01] [-1.31086681e-03 9.99999112e-01 2.40622821e-04 3.77678366e-01] [ 1.96002159e-02 -2.14883509e-04 9.99807874e-01 5.51270450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.608639999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:32.39, Y:0.37, Z:0.55 [[ 9.99807682e-01 -6.61401287e-04 -1.96000198e-02 3.23852866e+01] [ 6.66074759e-04 9.99999751e-01 2.31915021e-04 3.68493642e-01] [ 1.95998615e-02 -2.44925498e-04 9.99807874e-01 5.53346759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.668639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:32.44, Y:0.36, Z:0.55 [[ 9.99804672e-01 -2.54026818e-03 -1.96001326e-02 3.24431274e+01] [ 2.54510742e-03 9.99996737e-01 2.21957617e-04 3.61171066e-01] [ 1.95995048e-02 -2.71798705e-04 9.99807874e-01 5.53644995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72863999999999 meters Centerline goodness : 0.996359 with order 1 Centerline is valid? [True, True] Translation: X:32.50, Y:0.35, Z:0.58 [[ 9.99807041e-01 -1.30790156e-03 -1.96002398e-02 3.25020852e+01] [ 1.31230982e-03 9.99999116e-01 2.12048224e-04 3.54551314e-01] [ 1.95999451e-02 -2.37728895e-04 9.99807874e-01 5.82200040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.788639999999994 meters Centerline goodness : 0.997832 with order 1 Centerline is valid? [True, True] Translation: X:32.56, Y:0.35, Z:0.58 [[ 9.99807831e-01 -3.62270109e-04 -1.96002532e-02 3.25618656e+01] [ 3.66472177e-04 9.99999911e-01 2.10797016e-04 3.51193050e-01] [ 1.96001751e-02 -2.17939455e-04 9.99807874e-01 5.78695063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.848639999999996 meters Centerline goodness : 0.964891 with order 1 Centerline is valid? [True, True] Translation: X:32.62, Y:0.39, Z:0.56 [[ 9.95717277e-01 9.03489614e-02 -1.96002667e-02 3.26218867e+01] [-9.03622281e-02 9.95908944e-01 2.09537542e-04 3.85889341e-01] [ 1.95390124e-02 1.56248362e-03 9.99807874e-01 5.55524146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90863999999999 meters Centerline goodness : 0.997981 with order 1 Centerline is valid? [True, True] Translation: X:32.68, Y:0.34, Z:0.58 [[ 9.99725317e-01 1.28498646e-02 -1.96002867e-02 3.26807383e+01] [-1.28482629e-02 9.99917436e-01 2.07649465e-04 3.43321818e-01] [ 1.96013367e-02 4.42372084e-05 9.99807874e-01 5.81865203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96863999999999 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:32.74, Y:0.34, Z:0.58 [[ 9.99647051e-01 1.79332696e-02 -1.96003004e-02 3.27403162e+01] [-1.79326703e-02 9.99839175e-01 2.06348482e-04 3.41182246e-01] [ 1.96008487e-02 1.45210074e-04 9.99807874e-01 5.76450088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.028639999999996 meters Centerline goodness : 0.995764 with order 1 Centerline is valid? [True, True] Translation: X:32.80, Y:0.34, Z:0.58 [[ 9.99427447e-01 2.75790939e-02 -1.96003138e-02 3.27993330e+01] [-2.75803737e-02 9.99619568e-01 2.05069944e-04 3.41343922e-01] [ 1.95985128e-02 3.35631448e-04 9.99807874e-01 5.84070185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08863999999999 meters Centerline goodness : 0.996014 with order 1 Centerline is valid? [True, True] Translation: X:32.86, Y:0.35, Z:0.58 [[ 9.99138170e-01 3.65888071e-02 -1.96003969e-02 3.28586361e+01] [-3.65919814e-02 9.99330270e-01 1.96785204e-04 3.47447529e-01] [ 1.95944701e-02 5.20601752e-04 9.99807874e-01 5.79659012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14863999999999 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:32.92, Y:0.35, Z:0.56 [[ 9.98948631e-01 4.14421747e-02 -1.96004842e-02 3.29177805e+01] [-4.14464609e-02 9.99140709e-01 1.87668275e-04 3.53619614e-01] [ 1.95914191e-02 6.24899737e-04 9.99807874e-01 5.60237123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.208639999999995 meters Centerline goodness : 0.994974 with order 1 Centerline is valid? [True, True] Translation: X:32.98, Y:0.36, Z:0.58 [[ 9.98860037e-01 4.35252109e-02 -1.96005660e-02 3.29767290e+01] [-4.35300733e-02 9.99052101e-01 1.78703049e-04 3.62836316e-01] [ 1.95897647e-02 6.74714741e-04 9.99807874e-01 5.80688865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26863999999999 meters Centerline goodness : 0.994034 with order 1 Centerline is valid? [True, True] Translation: X:33.04, Y:0.38, Z:0.56 [[ 9.95996841e-01 8.72130109e-02 -1.96005906e-02 3.30357684e+01] [-8.72263309e-02 9.96188504e-01 1.75955309e-04 3.83510259e-01] [ 1.95412287e-02 1.53443667e-03 9.99807874e-01 5.60584231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32863999999999 meters Centerline goodness : 0.797757 with order 1 Centerline is valid? [True, False] Translation: X:33.02, Y:0.39, Z:0.56 [[ 9.97186180e-01 7.46899916e-02 -6.41301092e-03 3.30235960e+01] [-7.46960916e-02 9.97206087e-01 -7.16669109e-04 3.90727849e-01] [ 6.34156552e-03 1.19367938e-03 9.99979180e-01 5.57501935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.388639999999995 meters Centerline goodness : 0.855604 with order 3 Centerline is valid? [False, False] Translation: X:33.01, Y:0.40, Z:0.56 [[ 9.98123475e-01 6.07555182e-02 7.63514589e-03 3.30084270e+01] [-6.07279456e-02 9.98147149e-01 -3.79287895e-03 3.99677193e-01] [-7.85143743e-03 3.32209480e-03 9.99963659e-01 5.56852752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.44864 meters Centerline goodness : 0.994837 with order 1 Centerline is valid? [False, True] Translation: X:33.00, Y:0.41, Z:0.56 [[ 9.98700143e-01 4.78394077e-02 1.75902361e-02 3.29995182e+01] [-4.78149802e-02 9.98854575e-01 -1.80689580e-03 4.06750507e-01] [-1.76565286e-02 9.63470308e-04 9.99843647e-01 5.56010843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50863999999999 meters Centerline goodness : 0.997789 with order 1 Centerline is valid? [True, True] Translation: X:33.06, Y:0.41, Z:0.54 [[ 9.98746540e-01 4.68503821e-02 1.76178960e-02 3.30610922e+01] [-4.68518500e-02 9.98901795e-01 -3.29647020e-04 4.11808327e-01] [-1.76139920e-02 -4.96197198e-04 9.99844738e-01 5.36247925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.568639999999995 meters Centerline goodness : 0.986225 with order 1 Centerline is valid? [True, True] Translation: X:33.12, Y:0.40, Z:0.53 [[ 9.99355093e-01 -3.12891147e-02 1.76178533e-02 3.31226603e+01] [ 3.12998157e-02 9.99509986e-01 -3.31913824e-04 3.97553608e-01] [-1.75988350e-02 8.83135331e-04 9.99844738e-01 5.25530267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62864 meters Centerline goodness : 0.993900 with order 1 Centerline is valid? [True, True] Translation: X:33.18, Y:0.42, Z:0.53 [[ 9.99651229e-01 -1.96731492e-02 1.76178110e-02 3.31830598e+01] [ 1.96820886e-02 9.99806233e-01 -3.34144393e-04 4.20490992e-01] [-1.76078236e-02 6.80783169e-04 9.99844738e-01 5.30783806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68863999999999 meters Centerline goodness : 0.996462 with order 1 Centerline is valid? [True, True] Translation: X:33.24, Y:0.44, Z:0.54 [[ 9.97734741e-01 6.49230319e-02 1.76178183e-02 3.32447980e+01] [-6.49272377e-02 9.97889945e-01 -3.33759280e-04 4.37077172e-01] [-1.76023124e-02 -8.10873046e-04 9.99844738e-01 5.40220791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.748639999999995 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:33.30, Y:0.44, Z:0.53 [[ 9.99017445e-01 4.06664356e-02 1.76177906e-02 3.33047222e+01] [-4.06668442e-02 9.99172705e-01 -3.35211216e-04 4.42306154e-01] [-1.76168474e-02 -3.81578095e-04 9.99844738e-01 5.30086145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.80864 meters Centerline goodness : 0.997153 with order 1 Centerline is valid? [True, True] Translation: X:33.37, Y:0.45, Z:0.53 [[ 9.99425743e-01 2.89447438e-02 1.76177906e-02 3.33659297e+01] [-2.89433312e-02 9.99580998e-01 -3.35211216e-04 4.49170525e-01] [-1.76201114e-02 -1.74898830e-04 9.99844738e-01 5.33698589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86863999999999 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:33.43, Y:0.45, Z:0.52 [[ 9.99518773e-01 2.55310996e-02 1.76177744e-02 3.34256514e+01] [-2.55291417e-02 9.99674022e-01 -3.36063162e-04 4.52252784e-01] [-1.76206114e-02 -1.13865219e-04 9.99844738e-01 5.19057796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.928639999999994 meters Centerline goodness : 0.993760 with order 1 Centerline is valid? [True, True] Translation: X:33.49, Y:0.45, Z:0.55 [[ 9.99674651e-01 1.84447022e-02 1.76177758e-02 3.34869096e+01] [-1.84416449e-02 9.99829882e-01 -3.35991299e-04 4.53828334e-01] [-1.76209759e-02 1.09812194e-05 9.99844738e-01 5.51250036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98864 meters Centerline goodness : 0.997345 with order 1 Centerline is valid? [True, True] Translation: X:33.55, Y:0.45, Z:0.53 [[ 9.99743209e-01 1.42523968e-02 1.76177517e-02 3.35481758e+01] [-1.42486665e-02 9.99898426e-01 -3.37248921e-04 4.52400534e-01] [-1.76207688e-02 8.61328504e-05 9.99844738e-01 5.29485321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.04863999999999 meters Centerline goodness : 0.995184 with order 1 Centerline is valid? [True, True] Translation: X:33.61, Y:0.44, Z:0.54 [[ 9.99742145e-01 -1.43268421e-02 1.76177301e-02 3.36075722e+01] [ 1.43350269e-02 9.99897191e-01 -3.38371972e-04 4.41787064e-01] [-1.76110711e-02 5.90835357e-04 9.99844738e-01 5.36902116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.108639999999994 meters Centerline goodness : 0.997838 with order 1 Centerline is valid? [True, True] Translation: X:33.67, Y:0.44, Z:0.53 [[ 9.99790638e-01 1.04065269e-02 1.76177405e-02 3.36687970e+01] [-1.04021892e-02 9.99945839e-01 -3.37832742e-04 4.44229283e-01] [-1.76203019e-02 1.54498943e-04 9.99844738e-01 5.27333653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.168639999999996 meters Centerline goodness : 0.988452 with order 1 Centerline is valid? [True, True] Translation: X:33.73, Y:0.44, Z:0.55 [[ 9.99782368e-01 1.11728802e-02 1.76177192e-02 3.37298932e+01] [-1.11686421e-02 9.99937571e-01 -3.38936972e-04 4.37575347e-01] [-1.76204063e-02 1.42097209e-04 9.99844738e-01 5.52010844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22863999999999 meters Centerline goodness : 0.987657 with order 1 Centerline is valid? [True, True] Translation: X:33.79, Y:0.44, Z:0.55 [[ 9.99773629e-01 1.19292750e-02 1.76176985e-02 3.37921313e+01] [-1.19251354e-02 9.99928835e-01 -3.40010395e-04 4.36501175e-01] [-1.76205008e-02 1.29839986e-04 9.99844738e-01 5.53887712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.288639999999994 meters Centerline goodness : 0.998132 with order 1 Centerline is valid? [True, True] Translation: X:33.85, Y:0.43, Z:0.53 [[ 9.99744403e-01 1.41686778e-02 1.76175385e-02 3.38522154e+01] [-1.41647431e-02 9.99899614e-01 -3.48107348e-04 4.33683380e-01] [-1.76207022e-02 9.84704656e-05 9.99844739e-01 5.25952806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.348639999999996 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:33.91, Y:0.44, Z:0.52 [[ 9.99712219e-01 1.62819422e-02 1.76175367e-02 3.39144449e+01] [-1.62783341e-02 9.99867439e-01 -3.48197222e-04 4.36016382e-01] [-1.76208707e-02 6.13128692e-05 9.99844739e-01 5.24991327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40863999999999 meters Centerline goodness : 0.907142 with order 1 Centerline is valid? [True, False] Translation: X:34.02, Y:0.46, Z:0.53 [[ 9.99328894e-01 3.01955125e-02 -2.07362449e-02 3.40245000e+01] [-3.07183787e-02 9.99205871e-01 -2.53773071e-02 4.57581998e-01] [ 1.99534968e-02 2.59972601e-02 9.99462856e-01 5.30404271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46863999999999 meters Centerline goodness : 0.985697 with order 1 Centerline is valid? [False, True] Translation: X:34.01, Y:0.46, Z:0.53 [[ 9.99760970e-01 1.99272367e-02 -8.99488403e-03 3.40147892e+01] [-2.01050052e-02 9.99595292e-01 -2.01256076e-02 4.55898160e-01] [ 8.59019599e-03 2.03016391e-02 9.99756996e-01 5.28165604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.528639999999996 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:34.07, Y:0.44, Z:0.49 [[ 9.99884686e-01 1.25510190e-02 -8.54902590e-03 3.40746398e+01] [-1.25498671e-02 9.99921230e-01 1.88379982e-04 4.36645911e-01] [ 8.55071685e-03 -8.10691208e-05 9.99963439e-01 4.91812583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58863999999999 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:34.13, Y:0.43, Z:0.49 [[ 9.99953738e-01 4.40863847e-03 -8.54903183e-03 3.41328905e+01] [-4.40719130e-03 9.99990271e-01 1.88110566e-04 4.31121106e-01] [ 8.54977796e-03 -1.50424645e-04 9.99963439e-01 4.91285428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64863999999999 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:34.19, Y:0.42, Z:0.49 [[ 9.99963445e-01 -1.49142928e-04 -8.54905537e-03 3.41919713e+01] [ 1.50747404e-04 9.99999971e-01 1.87034715e-04 4.23185932e-01] [ 8.54902722e-03 -1.88316626e-04 9.99963439e-01 4.90811132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.708639999999995 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:34.25, Y:0.42, Z:0.49 [[ 9.99960683e-01 -2.35499070e-03 -8.54907784e-03 3.42501315e+01] [ 2.35666692e-03 9.99997206e-01 1.86001831e-04 4.15007296e-01] [ 8.54861592e-03 -2.06141847e-04 9.99963439e-01 4.93250196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.76863999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:34.31, Y:0.40, Z:0.49 [[ 9.99962896e-01 -1.05808324e-03 -8.54910039e-03 3.43082963e+01] [ 1.05970318e-03 9.99999421e-01 1.84959322e-04 3.99392921e-01] [ 8.54889974e-03 -1.94011968e-04 9.99963439e-01 4.93554862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82863999999999 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:34.37, Y:0.39, Z:0.49 [[ 9.99947708e-01 5.61198926e-03 -8.54912261e-03 3.43665116e+01] [-5.61062182e-03 9.99984243e-01 1.83926433e-04 3.88015348e-01] [ 8.55002010e-03 -1.35950921e-04 9.99963439e-01 4.92612534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.888639999999995 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:34.42, Y:0.38, Z:0.49 [[ 9.99909070e-01 1.04289138e-02 -8.54920026e-03 3.44242198e+01] [-1.04277538e-02 9.99945613e-01 1.80243408e-04 3.79988907e-01] [ 8.55061504e-03 -9.10780634e-05 9.99963439e-01 4.92636689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94863999999999 meters Centerline goodness : 0.994835 with order 1 Centerline is valid? [True, True] Translation: X:34.48, Y:0.37, Z:0.52 [[ 9.99833469e-01 1.61227875e-02 -8.54928864e-03 3.44836608e+01] [-1.61218724e-02 9.99870019e-01 1.75949078e-04 3.71451075e-01] [ 8.55101419e-03 -3.80892366e-05 9.99963439e-01 5.15951769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00863999999999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:34.54, Y:0.36, Z:0.49 [[ 9.99786181e-01 1.88282268e-02 -8.54929971e-03 3.45439283e+01] [-1.88274152e-02 9.99822733e-01 1.75409593e-04 3.63071491e-01] [ 8.55108686e-03 -1.44108721e-05 9.99963439e-01 4.93993158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.068639999999995 meters Centerline goodness : 0.994290 with order 1 Centerline is valid? [True, True] Translation: X:34.60, Y:0.36, Z:0.52 [[ 9.99655155e-01 2.48290160e-02 -8.54930539e-03 3.46036126e+01] [-2.48284262e-02 9.99691712e-01 1.75132399e-04 3.59822857e-01] [ 8.55101811e-03 3.71937923e-05 9.99963439e-01 5.20931170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12864 meters Centerline goodness : 0.996554 with order 1 Centerline is valid? [True, True] Translation: X:34.66, Y:0.36, Z:0.52 [[ 9.99564916e-01 2.82292051e-02 -8.54931106e-03 3.46613921e+01] [-2.82287420e-02 9.99601474e-01 1.74855173e-04 3.58318015e-01] [ 8.55083996e-03 6.65572001e-05 9.99963439e-01 5.17613826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18863999999999 meters Centerline goodness : 0.994195 with order 1 Centerline is valid? [True, True] Translation: X:34.72, Y:0.36, Z:0.52 [[ 9.99542359e-01 2.90169025e-02 -8.54940238e-03 3.47203580e+01] [-2.90165075e-02 9.99578918e-01 1.70269896e-04 3.55433774e-01] [ 8.55074309e-03 7.78818249e-05 9.99963439e-01 5.21597026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.248639999999995 meters Centerline goodness : 0.992821 with order 1 Centerline is valid? [True, True] Translation: X:34.78, Y:0.35, Z:0.52 [[ 9.99683224e-01 2.36719076e-02 -8.54942520e-03 3.47786259e+01] [-2.36713269e-02 9.99719781e-01 1.69116367e-04 3.49636451e-01] [ 8.55103279e-03 3.33134442e-05 9.99963439e-01 5.24022367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30864 meters Centerline goodness : 0.828450 with order 1 Centerline is valid? [True, False] Translation: X:34.77, Y:0.34, Z:0.52 [[ 9.99959944e-01 8.95012133e-03 7.70260313e-05 3.47735667e+01] [-8.95037331e-03 9.99950300e-01 4.39192315e-03 3.41354239e-01] [-3.77139580e-05 -4.39243664e-03 9.99990352e-01 5.22798416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36863999999999 meters Centerline goodness : 0.995967 with order 1 Centerline is valid? [False, True] Translation: X:34.78, Y:0.36, Z:0.53 [[ 9.99936884e-01 5.79794415e-03 -9.62355330e-03 3.47845098e+01] [-6.00405941e-03 9.99750197e-01 -2.15289129e-02 3.55250492e-01] [ 9.49632587e-03 2.15853345e-02 9.99721908e-01 5.28105014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.428639999999994 meters Centerline goodness : 0.996011 with order 1 Centerline is valid? [True, True] Translation: X:34.84, Y:0.33, Z:0.53 [[ 9.99923624e-01 8.01897255e-03 -9.40439193e-03 3.48430873e+01] [-8.01842182e-03 9.99967847e-01 9.62658448e-05 3.30477900e-01] [ 9.40486151e-03 -2.08501109e-05 9.99955773e-01 5.27816410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.48864 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:34.90, Y:0.32, Z:0.50 [[ 9.99925094e-01 7.83346306e-03 -9.40443409e-03 3.49022411e+01] [-7.83294467e-03 9.99969318e-01 9.19541678e-05 3.24354029e-01] [ 9.40486586e-03 -1.82828681e-05 9.99955773e-01 5.03597113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54863999999999 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:34.96, Y:0.32, Z:0.51 [[ 9.99921457e-01 8.28466251e-03 -9.40444315e-03 3.49600727e+01] [-8.28417288e-03 9.99965682e-01 9.10178173e-05 3.19227880e-01] [ 9.40487446e-03 -1.31026355e-05 9.99955773e-01 5.05363779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.608639999999994 meters Centerline goodness : 0.998424 with order 1 Centerline is valid? [True, True] Translation: X:35.02, Y:0.31, Z:0.53 [[ 9.99908230e-01 9.75130463e-03 -9.40448778e-03 3.50196708e+01] [-9.75092569e-03 9.99952455e-01 8.61462667e-05 3.11823998e-01] [ 9.40488068e-03 5.56410042e-06 9.99955773e-01 5.30081875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.668639999999996 meters Centerline goodness : 0.998374 with order 1 Centerline is valid? [True, True] Translation: X:35.08, Y:0.31, Z:0.53 [[ 9.99894796e-01 1.10431841e-02 -9.40449058e-03 3.50782093e+01] [-1.10428652e-02 9.99939022e-01 8.58390241e-05 3.09442220e-01] [ 9.40486505e-03 1.80225279e-05 9.99955773e-01 5.31647468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.72863999999999 meters Centerline goodness : 0.996007 with order 1 Centerline is valid? [True, True] Translation: X:35.14, Y:0.30, Z:0.54 [[ 9.99907128e-01 9.86354773e-03 -9.40452833e-03 3.51383149e+01] [-9.86321762e-03 9.99951354e-01 8.14818992e-05 3.04776285e-01] [ 9.40487454e-03 1.12845777e-05 9.99955773e-01 5.36296670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.788639999999994 meters Centerline goodness : 0.992460 with order 1 Centerline is valid? [True, True] Translation: X:35.20, Y:0.30, Z:0.54 [[ 9.99928704e-01 7.35812618e-03 -9.40453392e-03 3.51980732e+01] [-7.35769138e-03 9.99972929e-01 8.08313699e-05 3.04345462e-01] [ 9.40487410e-03 -1.16299487e-05 9.99955773e-01 5.42111793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.848639999999996 meters Centerline goodness : 0.998121 with order 1 Centerline is valid? [True, True] Translation: X:35.26, Y:0.30, Z:0.53 [[ 9.99915874e-01 8.93305554e-03 -9.40453665e-03 3.52586369e+01] [-8.93269340e-03 9.99960099e-01 8.05126857e-05 3.04251993e-01] [ 9.40488063e-03 3.50192995e-06 9.99955773e-01 5.34761147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:35.32, Y:0.31, Z:0.51 [[ 9.99882364e-01 1.21165931e-02 -9.40453793e-03 3.53181538e+01] [-1.21163732e-02 9.99926591e-01 8.03626275e-05 3.06627680e-01] [ 9.40482127e-03 3.35957173e-05 9.99955773e-01 5.13476416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96863999999999 meters Centerline goodness : 0.918252 with order 1 Centerline is valid? [True, False] Translation: X:35.30, Y:0.31, Z:0.51 [[ 9.99985851e-01 3.07874640e-03 4.33805612e-03 3.53032715e+01] [-3.09798987e-03 9.99985361e-01 4.43625110e-03 3.06574908e-01] [-4.32433452e-03 -4.44962759e-03 9.99980750e-01 5.13284100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.028639999999996 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [False, True] Translation: X:35.33, Y:0.34, Z:0.52 [[ 9.99838545e-01 1.19126525e-02 -1.34526407e-02 3.53287894e+01] [-1.23283179e-02 9.99435557e-01 -3.12502956e-02 3.36819266e-01] [ 1.30727735e-02 3.14110985e-02 9.99421055e-01 5.19515742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:35.39, Y:0.30, Z:0.53 [[ 9.99908229e-01 2.51195009e-03 -1.33125635e-02 3.53872811e+01] [-2.51134287e-03 9.99996845e-01 6.23292928e-05 3.04525386e-01] [ 1.33126781e-02 -2.88911612e-05 9.99911382e-01 5.27143002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.14863999999999 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:35.45, Y:0.31, Z:0.53 [[ 9.99763795e-01 1.71792993e-02 -1.33125893e-02 3.54455535e+01] [-1.71800734e-02 9.99852410e-01 5.62230364e-05 3.11805395e-01] [ 1.33115904e-02 1.72501505e-04 9.99911382e-01 5.30018084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.208639999999995 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:35.50, Y:0.31, Z:0.53 [[ 9.99675187e-01 2.17323768e-02 -1.33125982e-02 3.55037162e+01] [-2.17335836e-02 9.99763796e-01 5.40337697e-05 3.14143171e-01] [ 1.33106280e-02 2.35314247e-04 9.99911382e-01 5.32539801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26863999999999 meters Centerline goodness : 0.887549 with order 1 Centerline is valid? [True, False] Translation: X:35.49, Y:0.32, Z:0.53 [[ 9.99939314e-01 1.10153455e-02 -1.74471739e-04 3.54908742e+01] [-1.10147709e-02 9.99934809e-01 3.00864181e-03 3.15574162e-01] [ 2.07601594e-04 -3.00653746e-03 9.99995459e-01 5.30651950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32863999999999 meters Centerline goodness : 0.935269 with order 1 Centerline is valid? [False, False] Translation: X:35.52, Y:0.32, Z:0.53 [[ 9.99991304e-01 -2.30718996e-04 -4.16395699e-03 3.55196469e+01] [ 2.38907598e-04 9.99998039e-01 1.96615321e-03 3.23314976e-01] [ 4.16349519e-03 -1.96713091e-03 9.99989398e-01 5.31794712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.388639999999995 meters Centerline goodness : 0.998571 with order 1 Centerline is valid? [False, True] Translation: X:35.47, Y:0.37, Z:0.55 [[ 9.99992298e-01 -3.86968417e-03 -6.55140133e-04 3.54667194e+01] [ 3.82905460e-03 9.98558104e-01 -5.35448446e-02 3.72340421e-01] [ 8.61397126e-04 5.35419236e-02 9.98565231e-01 5.46174808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:35.53, Y:0.33, Z:0.52 [[ 9.99982765e-01 -5.57528465e-03 -1.84013762e-03 3.55274027e+01] [ 5.57521925e-03 9.99984458e-01 -4.06641781e-05 3.32627308e-01] [ 1.84033573e-03 3.04043066e-05 9.99998306e-01 5.19662037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50863999999999 meters Centerline goodness : 0.998666 with order 1 Centerline is valid? [True, True] Translation: X:35.59, Y:0.34, Z:0.54 [[ 9.99969250e-01 -7.62319396e-03 -1.84013489e-03 3.55872733e+01] [ 7.62313181e-03 9.99970943e-01 -4.07870373e-05 3.44973293e-01] [ 1.84039235e-03 2.67581923e-05 9.99998306e-01 5.37913349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.568639999999995 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:35.65, Y:0.36, Z:0.53 [[ 9.99932606e-01 -1.14628500e-02 -1.84013354e-03 3.56468824e+01] [ 1.14627942e-02 9.99934299e-01 -4.08478637e-05 3.57610586e-01] [ 1.84048088e-03 1.97520387e-05 9.99998306e-01 5.34577167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62863999999999 meters Centerline goodness : 0.972917 with order 1 Centerline is valid? [True, True] Translation: X:35.71, Y:0.34, Z:0.51 [[ 9.94255960e-01 -1.07012617e-01 -1.84013358e-03 3.57070239e+01] [ 1.07012723e-01 9.94257650e-01 -4.08460674e-05 3.37600124e-01] [ 1.83393794e-03 -1.56306260e-04 9.99998306e-01 5.13689243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68863999999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:35.77, Y:0.37, Z:0.54 [[ 9.99753662e-01 -2.21185168e-02 -1.84013220e-03 3.57677294e+01] [ 2.21184790e-02 9.99755356e-01 -4.09081123e-05 3.70987176e-01] [ 1.84058685e-03 1.97109712e-07 9.99998306e-01 5.35888267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.748639999999995 meters Centerline goodness : 0.999211 with order 1 Centerline is valid? [True, True] Translation: X:35.83, Y:0.37, Z:0.54 [[ 9.99750620e-01 -2.22556122e-02 -1.84013432e-03 3.58283505e+01] [ 2.22555748e-02 9.99752313e-01 -4.08126793e-05 3.74604189e-01] [ 1.84058685e-03 -1.50745586e-07 9.99998306e-01 5.42026601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80864 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:35.89, Y:0.38, Z:0.55 [[ 9.99681961e-01 -2.51513651e-02 -1.84013563e-03 3.58893527e+01] [ 2.51513327e-02 9.99683654e-01 -4.07533142e-05 3.78809105e-01] [ 1.84057852e-03 -5.54151042e-06 9.99998306e-01 5.47419703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.86863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:35.95, Y:0.38, Z:0.52 [[ 9.99772082e-01 -2.12696638e-02 -1.84013697e-03 3.59500045e+01] [ 2.12696250e-02 9.99773775e-01 -4.06930114e-05 3.81282861e-01] [ 1.84058621e-03 1.54471358e-06 9.99998306e-01 5.17654220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.928639999999994 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:36.01, Y:0.39, Z:0.54 [[ 9.99843344e-01 -1.76040262e-02 -1.84013762e-03 3.60121743e+01] [ 1.76039811e-02 9.99845037e-01 -4.06636011e-05 3.87355217e-01] [ 1.84056831e-03 8.26348304e-06 9.99998306e-01 5.39042629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98864 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:36.07, Y:0.39, Z:0.55 [[ 9.99890173e-01 -1.47056630e-02 -1.84015556e-03 3.60732402e+01] [ 1.47056146e-02 9.99891866e-01 -3.98346328e-05 3.92661478e-01] [ 1.84054237e-03 1.27696394e-05 9.99998306e-01 5.46143601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04863999999999 meters Centerline goodness : 0.997347 with order 1 Centerline is valid? [True, True] Translation: X:36.13, Y:0.40, Z:0.51 [[ 9.97714052e-01 -6.75520904e-02 -1.84015681e-03 3.61327538e+01] [ 6.75521317e-02 9.97715745e-01 -3.97768206e-05 3.95788576e-01] [ 1.83864043e-03 -8.46206224e-05 9.99998306e-01 5.06020096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.108639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:36.19, Y:0.40, Z:0.52 [[ 9.99927254e-01 -1.19206259e-02 -1.84015719e-03 3.61944987e+01] [ 1.19205729e-02 9.99928947e-01 -3.97594555e-05 3.98777302e-01] [ 1.84050040e-03 1.78208352e-05 9.99998306e-01 5.20528564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.168639999999996 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:36.26, Y:0.40, Z:0.55 [[ 9.99937967e-01 -1.09852179e-02 -1.84016331e-03 3.62552514e+01] [ 1.09851639e-02 9.99939660e-01 -3.94738153e-05 3.98245404e-01] [ 1.84048591e-03 1.92568711e-05 9.99998306e-01 5.45206500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.22863999999999 meters Centerline goodness : 0.999409 with order 1 Centerline is valid? [True, True] Translation: X:36.32, Y:0.40, Z:0.54 [[ 9.99971716e-01 -7.29251392e-03 -1.84016476e-03 3.63161928e+01] [ 7.29245375e-03 9.99973409e-01 -3.94064592e-05 4.01230454e-01] [ 1.84040320e-03 2.59860283e-05 9.99998306e-01 5.39144779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.288639999999994 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:36.38, Y:0.41, Z:0.54 [[ 9.99998016e-01 -7.62902661e-04 -1.84016501e-03 3.63768229e+01] [ 7.62831459e-04 9.99999708e-01 -3.93947374e-05 4.06785284e-01] [ 1.84019453e-03 3.79909235e-05 9.99998306e-01 5.38125489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.348639999999996 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:36.44, Y:0.41, Z:0.54 [[ 9.99997140e-01 1.52774269e-03 -1.84016501e-03 3.64365130e+01] [-1.52781777e-03 9.99998832e-01 -3.93947374e-05 4.10650497e-01] [ 1.84010267e-03 4.22060615e-05 9.99998306e-01 5.39075565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40863999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:36.50, Y:0.42, Z:0.54 [[ 9.99998152e-01 5.57457376e-04 -1.84016241e-03 3.64957534e+01] [-5.57531034e-04 9.99999844e-01 -3.95156529e-05 4.17302011e-01] [ 1.84014010e-03 4.05415275e-05 9.99998306e-01 5.40994684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46863999999999 meters Centerline goodness : 0.998324 with order 1 Centerline is valid? [True, True] Translation: X:36.55, Y:0.42, Z:0.54 [[ 9.99996618e-01 -1.83790095e-03 -1.84015852e-03 3.65545988e+01] [ 1.83783102e-03 9.99998310e-01 -3.96960905e-05 4.24487728e-01] [ 1.84022837e-03 3.63140559e-05 9.99998306e-01 5.41850503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.528639999999996 meters Centerline goodness : 0.997593 with order 1 Centerline is valid? [True, True] Translation: X:36.61, Y:0.43, Z:0.54 [[ 9.99983726e-01 -5.40007025e-03 -1.84015323e-03 3.66139603e+01] [ 5.40000589e-03 9.99985419e-01 -3.99399188e-05 4.28842427e-01] [ 1.84034207e-03 3.00024306e-05 9.99998306e-01 5.44382703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58863999999999 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:36.67, Y:0.43, Z:0.52 [[ 9.99981523e-01 -5.79378814e-03 -1.84015058e-03 3.66740345e+01] [ 5.79372423e-03 9.99983215e-01 -4.00616332e-05 4.32595603e-01] [ 1.84035180e-03 2.93995680e-05 9.99998306e-01 5.18909267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64863999999999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:36.73, Y:0.44, Z:0.52 [[ 9.99919353e-01 -1.25658535e-02 -1.84014928e-03 3.67341734e+01] [ 1.25658010e-02 9.99921046e-01 -4.01212941e-05 4.36848426e-01] [ 1.84050815e-03 1.69951089e-05 9.99998306e-01 5.17311367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.708639999999995 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:36.80, Y:0.44, Z:0.54 [[ 9.99822871e-01 -1.87307108e-02 -1.84014928e-03 3.67955307e+01] [ 1.87306687e-02 9.99824565e-01 -4.01212941e-05 4.40570945e-01] [ 1.84057795e-03 5.64696111e-06 9.99998306e-01 5.39052263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.76863999999999 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:36.86, Y:0.44, Z:0.52 [[ 9.99760556e-01 -2.18046686e-02 -1.84015184e-03 3.68570852e+01] [ 2.18046319e-02 9.99762250e-01 -4.00032371e-05 4.43692517e-01] [ 1.84058660e-03 -1.30174869e-07 9.99998306e-01 5.22339291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82863999999999 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:36.92, Y:0.44, Z:0.52 [[ 9.99701478e-01 -2.43632739e-02 -1.84015444e-03 3.69196827e+01] [ 2.43632418e-02 9.99703171e-01 -3.98833039e-05 4.44950335e-01] [ 1.84057992e-03 -4.96072972e-06 9.99998306e-01 5.19932787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.888639999999995 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:36.98, Y:0.45, Z:0.52 [[ 9.99607972e-01 -2.79377265e-02 -1.84016086e-03 3.69826284e+01] [ 2.79377010e-02 9.99609665e-01 -3.95851441e-05 4.45780398e-01] [ 1.84054850e-03 -1.18402380e-05 9.99998306e-01 5.19921837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94863999999999 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:37.05, Y:0.44, Z:0.53 [[ 9.99497131e-01 -3.16559427e-02 -1.84018042e-03 3.70450941e+01] [ 3.16559252e-02 9.99498825e-01 -3.86538720e-05 4.43216172e-01] [ 1.84048179e-03 -1.96181794e-05 9.99998306e-01 5.25047416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00863999999999 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:37.11, Y:0.44, Z:0.52 [[ 9.99408549e-01 -3.43389718e-02 -1.84018523e-03 3.71085394e+01] [ 3.43389592e-02 9.99410243e-01 -3.84235386e-05 4.41564678e-01] [ 1.84041939e-03 -2.47892325e-05 9.99998306e-01 5.23935488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.068639999999995 meters Centerline goodness : 0.996804 with order 1 Centerline is valid? [True, True] Translation: X:37.17, Y:0.44, Z:0.55 [[ 9.99410558e-01 -3.42804499e-02 -1.84020411e-03 3.71695675e+01] [ 3.42804390e-02 9.99412252e-01 -3.74967336e-05 4.37191224e-01] [ 1.84040794e-03 -2.56083732e-05 9.99998306e-01 5.45158492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.12863999999999 meters Centerline goodness : 0.995824 with order 1 Centerline is valid? [True, True] Translation: X:37.23, Y:0.43, Z:0.54 [[ 9.99645291e-01 -2.65688921e-02 -1.84020534e-03 3.72315622e+01] [ 2.65688682e-02 9.99646985e-01 -3.74363369e-05 4.34473693e-01] [ 1.84055036e-03 -1.14691153e-05 9.99998306e-01 5.41474282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18863999999999 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:37.29, Y:0.43, Z:0.52 [[ 9.99730492e-01 -2.31421212e-02 -1.84022160e-03 3.72922466e+01] [ 2.31420930e-02 9.99732185e-01 -3.66193889e-05 4.33784200e-01] [ 1.84057621e-03 -5.97705972e-06 9.99998306e-01 5.19041716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.248639999999995 meters Centerline goodness : 0.995338 with order 1 Centerline is valid? [True, True] Translation: X:37.35, Y:0.43, Z:0.54 [[ 9.99853442e-01 -1.70208334e-02 -1.84022189e-03 3.73535962e+01] [ 1.70207948e-02 9.99855135e-01 -3.66047258e-05 4.34010317e-01] [ 1.84057835e-03 5.27732185e-06 9.99998306e-01 5.43813586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30863999999999 meters Centerline goodness : 0.994593 with order 1 Centerline is valid? [True, True] Translation: X:37.42, Y:0.43, Z:0.55 [[ 9.99886253e-01 -1.49698029e-02 -1.84022422e-03 3.74156400e+01] [ 1.49697611e-02 9.99887946e-01 -3.64870043e-05 4.33647868e-01] [ 1.84056422e-03 8.93513701e-06 9.99998306e-01 5.45118112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36863999999999 meters Centerline goodness : 0.994744 with order 1 Centerline is valid? [True, True] Translation: X:37.48, Y:0.44, Z:0.54 [[ 9.99901442e-01 -1.39183130e-02 -1.84024027e-03 3.74781685e+01] [ 1.39182709e-02 9.99903136e-01 -3.56586721e-05 4.36700515e-01] [ 1.84055833e-03 1.00421950e-05 9.99998306e-01 5.43675753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.428639999999994 meters Centerline goodness : 0.994789 with order 1 Centerline is valid? [True, True] Translation: X:37.54, Y:0.44, Z:0.54 [[ 9.99955147e-01 -9.29070738e-03 -1.84025612e-03 3.75390621e+01] [ 9.29065903e-03 9.99956840e-01 -3.48210811e-05 4.42434297e-01] [ 1.84050021e-03 1.77223271e-05 9.99998306e-01 5.43590168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48864 meters Centerline goodness : 0.993946 with order 1 Centerline is valid? [True, True] Translation: X:37.60, Y:0.45, Z:0.55 [[ 9.99974764e-01 -6.86187726e-03 -1.84025835e-03 3.75993667e+01] [ 6.86182501e-03 9.99976457e-01 -3.47030173e-05 4.50651205e-01] [ 1.84045315e-03 2.20746107e-05 9.99998306e-01 5.46877673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54863999999999 meters Centerline goodness : 0.994548 with order 1 Centerline is valid? [True, True] Translation: X:37.66, Y:0.46, Z:0.54 [[ 9.99993837e-01 -2.98973737e-03 -1.84025835e-03 3.76591994e+01] [ 2.98967857e-03 9.99995530e-01 -3.47030173e-05 4.57977341e-01] [ 1.84035388e-03 2.92010225e-05 9.99998306e-01 5.43900856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.608639999999994 meters Centerline goodness : 0.994459 with order 1 Centerline is valid? [True, True] Translation: X:37.72, Y:0.47, Z:0.55 [[ 9.99992812e-01 -3.31502758e-03 -1.84026367e-03 3.77191064e+01] [ 3.31496986e-03 9.99994505e-01 -3.44185229e-05 4.72443096e-01] [ 1.84036766e-03 2.83178569e-05 9.99998306e-01 5.49050340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.668639999999996 meters Centerline goodness : 0.995185 with order 1 Centerline is valid? [True, True] Translation: X:37.78, Y:0.49, Z:0.54 [[ 9.99990399e-01 -3.97688446e-03 -1.84026099e-03 3.77782888e+01] [ 3.97682759e-03 9.99992092e-01 -3.45609874e-05 4.86888170e-01] [ 1.84038389e-03 2.72422549e-05 9.99998306e-01 5.44743711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72863999999999 meters Centerline goodness : 0.997446 with order 1 Centerline is valid? [True, True] Translation: X:37.84, Y:0.50, Z:0.52 [[ 9.99955437e-01 -9.25943511e-03 -1.84025878e-03 3.78377188e+01] [ 9.25938697e-03 9.99957130e-01 -3.46784619e-05 4.99238839e-01] [ 1.84050099e-03 1.76372483e-05 9.99998306e-01 5.24939134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.788639999999994 meters Centerline goodness : 0.998182 with order 1 Centerline is valid? [True, True] Translation: X:37.90, Y:0.51, Z:0.53 [[ 9.99877438e-01 -1.55474047e-02 -1.84025651e-03 3.78987905e+01] [ 1.55473670e-02 9.99879132e-01 -3.47985498e-05 5.07959675e-01] [ 1.84057511e-03 6.18314151e-06 9.99998306e-01 5.27499404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.848639999999996 meters Centerline goodness : 0.992945 with order 1 Centerline is valid? [True, True] Translation: X:37.96, Y:0.51, Z:0.55 [[ 9.99618001e-01 -2.75765403e-02 -1.84025873e-03 3.79593315e+01] [ 2.75765231e-02 9.99619695e-01 -3.46805751e-05 5.14556117e-01] [ 1.84051524e-03 -1.60806104e-05 9.99998306e-01 5.53057786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.90863999999999 meters Centerline goodness : 0.997841 with order 1 Centerline is valid? [True, True] Translation: X:38.02, Y:0.51, Z:0.53 [[ 9.99223166e-01 -3.93659507e-02 -1.84025912e-03 3.80208456e+01] [ 3.93659536e-02 9.99224860e-01 -3.46602460e-05 5.13177238e-01] [ 1.84019709e-03 -3.78102343e-05 9.99998306e-01 5.26960343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96863999999999 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:38.08, Y:0.51, Z:0.53 [[ 9.98795759e-01 -4.90269760e-02 -1.84026105e-03 3.80830666e+01] [ 4.90269954e-02 9.98797453e-01 -3.45571397e-05 5.11143403e-01] [ 1.83974228e-03 -5.57069456e-05 9.99998306e-01 5.27873349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.028639999999996 meters Centerline goodness : 0.997839 with order 1 Centerline is valid? [True, True] Translation: X:38.15, Y:0.51, Z:0.53 [[ 9.98522132e-01 -5.43154302e-02 -1.84027508e-03 3.81464920e+01] [ 5.43154601e-02 9.98523825e-01 -3.37935112e-05 5.07671198e-01] [ 1.83939402e-03 -6.62118185e-05 9.99998306e-01 5.28506408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08863999999999 meters Centerline goodness : 0.998132 with order 1 Centerline is valid? [True, True] Translation: X:38.21, Y:0.50, Z:0.53 [[ 9.98405313e-01 -5.64220137e-02 -1.84029055e-03 3.82093128e+01] [ 5.64220488e-02 9.98407007e-01 -3.29286758e-05 5.02766789e-01] [ 1.83921688e-03 -7.09567983e-05 9.99998306e-01 5.28965842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14863999999999 meters Centerline goodness : 0.998476 with order 1 Centerline is valid? [True, True] Translation: X:38.27, Y:0.50, Z:0.53 [[ 9.98603624e-01 -5.27959806e-02 -1.84030355e-03 3.82727029e+01] [ 5.27960108e-02 9.98605318e-01 -3.21852371e-05 4.95169054e-01] [ 1.83943616e-03 -6.50203919e-05 9.99998306e-01 5.28967663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.208639999999995 meters Centerline goodness : 0.995285 with order 1 Centerline is valid? [True, True] Translation: X:38.33, Y:0.49, Z:0.55 [[ 9.98690831e-01 -5.11198294e-02 -1.84031820e-03 3.83340572e+01] [ 5.11198583e-02 9.98692525e-01 -3.13246039e-05 4.86005484e-01] [ 1.83951334e-03 -6.27932110e-05 9.99998306e-01 5.50612071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26863999999999 meters Centerline goodness : 0.996107 with order 1 Centerline is valid? [True, True] Translation: X:38.40, Y:0.48, Z:0.55 [[ 9.98891724e-01 -4.70312412e-02 -1.84032008e-03 3.83976094e+01] [ 4.70312634e-02 9.98893417e-01 -3.12135760e-05 4.80389462e-01] [ 1.83975163e-03 -5.53735959e-05 9.99998306e-01 5.52271182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32863999999999 meters Centerline goodness : 0.997692 with order 1 Centerline is valid? [True, True] Translation: X:38.46, Y:0.47, Z:0.55 [[ 9.99164002e-01 -4.08400493e-02 -1.84033468e-03 3.84598037e+01] [ 4.08400627e-02 9.99165696e-01 -3.03275772e-05 4.74624665e-01] [ 1.84003787e-03 -4.48571606e-05 9.99998306e-01 5.51028453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.388639999999995 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:38.52, Y:0.48, Z:0.54 [[ 9.99558718e-01 -2.96476224e-02 -1.84034719e-03 3.85207334e+01] [ 2.96476182e-02 9.99560412e-01 -2.95486279e-05 4.79885528e-01] [ 1.84041424e-03 -2.50263222e-05 9.99998306e-01 5.43848008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.44863999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:38.58, Y:0.48, Z:0.53 [[ 9.99682231e-01 -2.51406033e-02 -1.84034809e-03 3.85826446e+01] [ 2.51405916e-02 9.99683925e-01 -2.94923258e-05 4.83284025e-01] [ 1.84050786e-03 -1.67844858e-05 9.99998306e-01 5.28381308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50863999999999 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:38.64, Y:0.48, Z:0.53 [[ 9.98576192e-01 -5.33123134e-02 -1.84035171e-03 3.86418100e+01] [ 5.33123499e-02 9.98577885e-01 -2.92646961e-05 4.81060998e-01] [ 1.83929469e-03 -6.88904456e-05 9.99998306e-01 5.32797335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.568639999999995 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:38.70, Y:0.49, Z:0.55 [[ 9.99706638e-01 -2.41506031e-02 -1.84035104e-03 3.87025580e+01] [ 2.41505901e-02 9.99708332e-01 -2.93072868e-05 4.91773293e-01] [ 1.84052205e-03 -1.51468743e-05 9.99998306e-01 5.46879483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.62863999999999 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:38.76, Y:0.50, Z:0.55 [[ 9.99722797e-01 -2.34721639e-02 -1.84035124e-03 3.87635590e+01] [ 2.34721498e-02 9.99724491e-01 -2.92941574e-05 4.96842237e-01] [ 1.84053181e-03 -1.39109630e-05 9.99998306e-01 5.52016096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.68863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.83, Y:0.50, Z:0.53 [[ 9.99762039e-01 -2.17365553e-02 -1.84035309e-03 3.88250979e+01] [ 2.17365384e-02 9.99763733e-01 -2.91779593e-05 4.97259783e-01] [ 1.84055250e-03 -1.08318895e-05 9.99998306e-01 5.26343907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.748639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.89, Y:0.50, Z:0.53 [[ 9.99819717e-01 -1.88983472e-02 -1.84035489e-03 3.88884953e+01] [ 1.88983257e-02 9.99821410e-01 -2.90635348e-05 5.01054195e-01] [ 1.84057548e-03 -5.72133103e-06 9.99998306e-01 5.26372552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.80863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:38.95, Y:0.50, Z:0.52 [[ 9.99870415e-01 -1.59926731e-02 -1.84036908e-03 3.89507306e+01] [ 1.59926484e-02 9.99872109e-01 -2.81354238e-05 5.02496629e-01] [ 1.84058368e-03 -1.30059772e-06 9.99998306e-01 5.24966964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.01, Y:0.51, Z:0.52 [[ 9.99905133e-01 -1.36505758e-02 -1.84038110e-03 3.90127961e+01] [ 1.36505486e-02 9.99906827e-01 -2.73259247e-05 5.08243596e-01] [ 1.84058264e-03 2.20112062e-06 9.99998306e-01 5.23779669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.928639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.07, Y:0.51, Z:0.54 [[ 9.99908666e-01 -1.33892925e-02 -1.84039282e-03 3.90748695e+01] [ 1.33892664e-02 9.99910359e-01 -2.65125155e-05 5.09358480e-01] [ 1.84058283e-03 1.86858432e-06 9.99998306e-01 5.41947735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.14, Y:0.51, Z:0.52 [[ 9.99855336e-01 -1.69091776e-02 -1.84040413e-03 3.91374273e+01] [ 1.69091589e-02 9.99857030e-01 -2.57026844e-05 5.12906359e-01] [ 1.84057562e-03 -5.42071978e-06 9.99998306e-01 5.23712256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04863999999999 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:39.20, Y:0.52, Z:0.54 [[ 9.99850711e-01 -1.71804897e-02 -1.84041500e-03 3.91990348e+01] [ 1.71804730e-02 9.99852404e-01 -2.48992751e-05 5.15181741e-01] [ 1.84057114e-03 -6.72364228e-06 9.99998306e-01 5.44070111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.108639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.26, Y:0.52, Z:0.52 [[ 9.99840909e-01 -1.77417673e-02 -1.84042080e-03 3.92613418e+01] [ 1.77417523e-02 9.99842602e-01 -2.44630771e-05 5.21172552e-01] [ 1.84056514e-03 -8.19310475e-06 9.99998306e-01 5.22641813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.168639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.32, Y:0.52, Z:0.52 [[ 9.99806380e-01 -1.95911805e-02 -1.84043117e-03 3.93244728e+01] [ 1.95911701e-02 9.99808074e-01 -2.36564539e-05 5.24861654e-01] [ 1.84054140e-03 -1.24043265e-05 9.99998306e-01 5.22566832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:39.39, Y:0.53, Z:0.54 [[ 9.99763342e-01 -2.16765542e-02 -1.84044250e-03 3.93863870e+01] [ 2.16765491e-02 9.99765036e-01 -2.27387595e-05 5.28377892e-01] [ 1.84050296e-03 -1.71610641e-05 9.99998306e-01 5.40491136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.288639999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:39.45, Y:0.53, Z:0.52 [[ 9.99852057e-01 -1.71019518e-02 -1.84044531e-03 3.94484333e+01] [ 1.71019394e-02 9.99853751e-01 -2.25089429e-05 5.32563309e-01] [ 1.84056110e-03 -8.96957133e-06 9.99998306e-01 5.23770840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.348639999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:39.51, Y:0.53, Z:0.52 [[ 9.99858916e-01 -1.66961368e-02 -1.84045472e-03 3.95119566e+01] [ 1.66961251e-02 9.99860610e-01 -2.17116250e-05 5.34415848e-01] [ 1.84056068e-03 -9.01990048e-06 9.99998306e-01 5.23860885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40863999999999 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:39.57, Y:0.53, Z:0.54 [[ 9.99766689e-01 -2.15216411e-02 -1.84046506e-03 3.95738690e+01] [ 2.15216393e-02 9.99768382e-01 -2.07960990e-05 5.33151983e-01] [ 1.84048635e-03 -1.88185781e-05 9.99998306e-01 5.43397778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.46863999999999 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:39.64, Y:0.53, Z:0.54 [[ 9.99751818e-01 -2.22016892e-02 -1.84047374e-03 3.96372025e+01] [ 2.22016900e-02 9.99753512e-01 -1.99980526e-05 5.33179507e-01] [ 1.84046407e-03 -2.08685379e-05 9.99998306e-01 5.44461074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.528639999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.70, Y:0.54, Z:0.53 [[ 9.99767666e-01 -2.14761923e-02 -1.84048335e-03 3.96999972e+01] [ 2.14761936e-02 9.99769360e-01 -1.90703963e-05 5.35912798e-01] [ 1.84046842e-03 -2.04606111e-05 9.99998306e-01 5.25181347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.58863999999999 meters Centerline goodness : 0.998865 with order 1 Centerline is valid? [True, True] Translation: X:39.76, Y:0.53, Z:0.55 [[ 9.99744815e-01 -2.25148268e-02 -1.84049244e-03 3.97621244e+01] [ 2.25148315e-02 9.99746509e-01 -1.81478830e-05 5.32967200e-01] [ 1.84043449e-03 -2.32951254e-05 9.99998306e-01 5.46406835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64863999999999 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:39.82, Y:0.54, Z:0.54 [[ 9.99977575e-01 -6.43911230e-03 -1.84049521e-03 3.98241160e+01] [ 6.43909033e-03 9.99979269e-01 -1.78624467e-05 5.36111622e-01] [ 1.84057208e-03 6.01093120e-06 9.99998306e-01 5.41439669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.708639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:39.88, Y:0.53, Z:0.52 [[ 9.99694137e-01 -2.46626113e-02 -1.84049745e-03 3.98848547e+01] [ 2.46626206e-02 9.99695831e-01 -1.76290675e-05 5.26633028e-01] [ 1.84037241e-03 -2.77678149e-05 9.99998306e-01 5.23844664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76863999999999 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:39.95, Y:0.52, Z:0.55 [[ 9.99711803e-01 -2.39358341e-02 -1.84049745e-03 3.99472905e+01] [ 2.39358422e-02 9.99713497e-01 -1.76290675e-05 5.22538357e-01] [ 1.84039211e-03 -2.64298697e-05 9.99998306e-01 5.48195945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.82863999999999 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:40.01, Y:0.52, Z:0.55 [[ 9.99740168e-01 -2.27202489e-02 -1.84050469e-03 4.00107601e+01] [ 2.27202564e-02 9.99741862e-01 -1.68381835e-05 5.20065522e-01] [ 1.84041215e-03 -2.49829299e-05 9.99998306e-01 5.46094110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.888639999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:40.07, Y:0.52, Z:0.52 [[ 9.99838301e-01 -1.78880937e-02 -1.84051257e-03 4.00732062e+01] [ 1.78880947e-02 9.99839995e-01 -1.59269626e-05 5.20108981e-01] [ 1.84050298e-03 -1.69988759e-05 9.99998306e-01 5.22816412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94863999999999 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:40.14, Y:0.52, Z:0.55 [[ 9.99817489e-01 -1.90157893e-02 -1.84051917e-03 4.01355367e+01] [ 1.90157937e-02 9.99819183e-01 -1.51241412e-05 5.20781593e-01] [ 1.84047397e-03 -1.98775520e-05 9.99998306e-01 5.49616327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.20, Y:0.52, Z:0.53 [[ 9.99854352e-01 -1.69672199e-02 -1.84052533e-03 4.01976141e+01] [ 1.69672223e-02 9.99856046e-01 -1.43332482e-05 5.24991504e-01] [ 1.84050357e-03 -1.68974417e-05 9.99998306e-01 5.25770982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.068639999999995 meters Centerline goodness : 0.998281 with order 1 Centerline is valid? [True, True] Translation: X:40.26, Y:0.53, Z:0.55 [[ 9.99861682e-01 -1.65296622e-02 -1.84053122e-03 4.02603051e+01] [ 1.65296653e-02 9.99863376e-01 -1.35323280e-05 5.26251454e-01] [ 1.84050344e-03 -1.68929087e-05 9.99998306e-01 5.49133711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.12863999999999 meters Centerline goodness : 0.997198 with order 1 Centerline is valid? [True, True] Translation: X:40.32, Y:0.53, Z:0.55 [[ 9.99741557e-01 -2.26590392e-02 -1.84053327e-03 4.03209064e+01] [ 2.26590532e-02 9.99743251e-01 -1.32468857e-05 5.28374053e-01] [ 1.84036088e-03 -2.84612791e-05 9.99998306e-01 5.53916843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.38, Y:0.53, Z:0.52 [[ 9.99668937e-01 -2.56637740e-02 -1.84053327e-03 4.03820018e+01] [ 2.56637931e-02 9.99670631e-01 -1.32468857e-05 5.28540374e-01] [ 1.84026702e-03 -3.39925649e-05 9.99998306e-01 5.23929168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.248639999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.44, Y:0.53, Z:0.52 [[ 9.99596744e-01 -2.83365697e-02 -1.84053368e-03 4.04449988e+01] [ 2.83365934e-02 9.99598438e-01 -1.31903135e-05 5.26035185e-01] [ 1.84016836e-03 -3.89694601e-05 9.99998306e-01 5.23791768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30863999999999 meters Centerline goodness : 0.998231 with order 1 Centerline is valid? [True, True] Translation: X:40.51, Y:0.52, Z:0.55 [[ 9.99462708e-01 -3.27247356e-02 -1.84053963e-03 4.05069092e+01] [ 3.27247684e-02 9.99464401e-01 -1.22986183e-05 5.20824564e-01] [ 1.83995631e-03 -4.79392229e-05 9.99998306e-01 5.47017264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36863999999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:40.57, Y:0.52, Z:0.52 [[ 9.99694915e-01 -2.46310493e-02 -1.84054459e-03 4.05694696e+01] [ 2.46310698e-02 9.99696609e-01 -1.15052285e-05 5.16100060e-01] [ 1.84026958e-03 -3.38328639e-05 9.99998306e-01 5.23210993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.428639999999994 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:40.63, Y:0.51, Z:0.52 [[ 9.99838187e-01 -1.78944881e-02 -1.84054914e-03 4.06328410e+01] [ 1.78944987e-02 9.99839881e-01 -1.07252988e-05 5.13835544e-01] [ 1.84044635e-03 -2.22121408e-05 9.99998306e-01 5.22073146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48863999999999 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:40.70, Y:0.51, Z:0.54 [[ 9.99847422e-01 -1.73708135e-02 -1.84055393e-03 4.06950683e+01] [ 1.73708249e-02 9.99849116e-01 -9.82812887e-06 5.09661446e-01] [ 1.84044694e-03 -2.21453106e-05 9.99998306e-01 5.43824494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54863999999999 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:40.76, Y:0.52, Z:0.54 [[ 9.99993384e-01 -3.13759072e-03 -1.84055789e-03 4.07568470e+01] [ 3.13757943e-03 9.99995078e-01 -9.02049060e-06 5.17499894e-01] [ 1.84057713e-03 3.24553435e-06 9.99998306e-01 5.43552018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.608639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.82, Y:0.52, Z:0.52 [[ 9.99997583e-01 -1.20268096e-03 -1.84055900e-03 4.08168042e+01] [ 1.20266682e-03 9.99999277e-01 -8.78844622e-06 5.21649050e-01] [ 1.84056823e-03 6.57484573e-06 9.99998306e-01 5.23428320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.66863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.88, Y:0.52, Z:0.52 [[ 9.99997287e-01 -1.42737563e-03 -1.84055843e-03 4.08764679e+01] [ 1.42736165e-03 9.99998981e-01 -8.90508647e-06 5.24597565e-01] [ 1.84056927e-03 6.27791978e-06 9.99998306e-01 5.24642882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:40.94, Y:0.53, Z:0.52 [[ 9.99998262e-01 -2.98671582e-04 -1.84055786e-03 4.09365512e+01] [ 2.98655483e-04 9.99999955e-01 -9.02116467e-06 5.27967292e-01] [ 1.84056047e-03 8.47145629e-06 9.99998306e-01 5.23787385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.788639999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:40.99, Y:0.53, Z:0.52 [[ 9.99998230e-01 -3.89890427e-04 -1.84055729e-03 4.09948958e+01] [ 3.89874270e-04 9.99999924e-01 -9.13724284e-06 5.33334229e-01] [ 1.84056071e-03 8.41964074e-06 9.99998306e-01 5.23598692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.848639999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:41.05, Y:0.54, Z:0.52 [[ 9.99997851e-01 -9.53855874e-04 -1.84055610e-03 4.10534632e+01] [ 9.53840244e-04 9.99999545e-01 -9.36980393e-06 5.35562395e-01] [ 1.84056420e-03 7.61418732e-06 9.99998306e-01 5.24165420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90863999999999 meters Centerline goodness : 0.998574 with order 1 Centerline is valid? [True, True] Translation: X:41.11, Y:0.54, Z:0.55 [[ 9.99960195e-01 -8.73045653e-03 -1.84055490e-03 4.11125250e+01] [ 8.73045365e-03 9.99961889e-01 -9.59993078e-06 5.39785917e-01] [ 1.84056857e-03 -6.46933060e-06 9.99998306e-01 5.45203689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96863999999999 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:41.17, Y:0.54, Z:0.52 [[ 9.99944211e-01 -1.04013391e-02 -1.84055398e-03 4.11741098e+01] [ 1.04013387e-02 9.99945905e-01 -9.77307991e-06 5.42970688e-01] [ 1.84055607e-03 -9.37169077e-06 9.99998306e-01 5.22722212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.028639999999996 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:41.24, Y:0.55, Z:0.52 [[ 9.99943925e-01 -1.04287426e-02 -1.84055458e-03 4.12358733e+01] [ 1.04287425e-02 9.99945619e-01 -9.65853887e-06 5.48634666e-01] [ 1.84055522e-03 -9.53667247e-06 9.99998306e-01 5.22371556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08863999999999 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:41.30, Y:0.55, Z:0.52 [[ 9.99971490e-01 -7.32341035e-03 -1.84055517e-03 4.12970279e+01] [ 7.32340519e-03 9.99973183e-01 -9.54482886e-06 5.54762923e-01] [ 1.84057572e-03 -3.93457457e-06 9.99998306e-01 5.21870093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.14863999999999 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:41.36, Y:0.56, Z:0.54 [[ 9.99955968e-01 -9.20185648e-03 -1.84055576e-03 4.13577503e+01] [ 9.20185471e-03 9.99957662e-01 -9.43109885e-06 5.58598059e-01] [ 1.84056461e-03 -7.50584307e-06 9.99998306e-01 5.44037242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.208639999999995 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:41.42, Y:0.56, Z:0.52 [[ 9.99939062e-01 -1.08850767e-02 -1.84055576e-03 4.14195713e+01] [ 1.08850778e-02 9.99940756e-01 -9.43109885e-06 5.59979355e-01] [ 1.84054937e-03 -1.06040684e-05 9.99998306e-01 5.21017683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.26863999999999 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:41.48, Y:0.56, Z:0.52 [[ 9.99823619e-01 -1.86907084e-02 -1.84055635e-03 4.14809374e+01] [ 1.86907229e-02 9.99825313e-01 -9.31464034e-06 5.58462660e-01] [ 1.84040892e-03 -2.50883312e-05 9.99998306e-01 5.20521983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32863999999999 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:41.54, Y:0.55, Z:0.52 [[ 9.99711986e-01 -2.39281647e-02 -1.84055691e-03 4.15438450e+01] [ 2.39281883e-02 9.99713680e-01 -9.20207478e-06 5.54673943e-01] [ 1.84025011e-03 -3.48417677e-05 9.99998306e-01 5.20136232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.388639999999995 meters Centerline goodness : 0.997449 with order 1 Centerline is valid? [True, True] Translation: X:41.61, Y:0.55, Z:0.55 [[ 9.99597968e-01 -2.82933524e-02 -1.84056089e-03 4.16073707e+01] [ 2.82933850e-02 9.99599662e-01 -8.32203606e-06 5.48767140e-01] [ 1.84005950e-03 -4.37570074e-05 9.99998306e-01 5.48932426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44863999999999 meters Centerline goodness : 0.998627 with order 1 Centerline is valid? [True, True] Translation: X:41.67, Y:0.55, Z:0.52 [[ 9.99684105e-01 -2.50659668e-02 -1.84056448e-03 4.16704678e+01] [ 2.50659956e-02 9.99685799e-01 -7.43238690e-06 5.47238254e-01] [ 1.84017247e-03 -3.87055422e-05 9.99998306e-01 5.21905621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50863999999999 meters Centerline goodness : 0.997939 with order 1 Centerline is valid? [True, True] Translation: X:41.73, Y:0.54, Z:0.54 [[ 9.99687996e-01 -2.49103033e-02 -1.84056766e-03 4.17327874e+01] [ 2.49103334e-02 9.99689689e-01 -6.53653349e-06 5.41879946e-01] [ 1.84015934e-03 -3.93146601e-05 9.99998306e-01 5.43704924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.568639999999995 meters Centerline goodness : 0.997888 with order 1 Centerline is valid? [True, True] Translation: X:41.79, Y:0.53, Z:0.55 [[ 9.99571539e-01 -2.92121551e-02 -1.84056842e-03 4.17949891e+01] [ 2.92121930e-02 9.99573233e-01 -6.31514909e-06 5.32874557e-01] [ 1.83996741e-03 -4.74545966e-05 9.99998306e-01 5.45504421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62863999999999 meters Centerline goodness : 0.998479 with order 1 Centerline is valid? [True, True] Translation: X:41.86, Y:0.53, Z:0.52 [[ 9.99567105e-01 -2.93634835e-02 -1.84057076e-03 4.18577019e+01] [ 2.93635230e-02 9.99568799e-01 -5.53700959e-06 5.28031995e-01] [ 1.83993969e-03 -4.85110292e-05 9.99998306e-01 5.22179551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68863999999999 meters Centerline goodness : 0.998381 with order 1 Centerline is valid? [True, True] Translation: X:41.92, Y:0.52, Z:0.52 [[ 9.99614619e-01 -2.76988538e-02 -1.84057156e-03 4.19212641e+01] [ 2.76988911e-02 9.99616312e-01 -5.25772036e-06 5.23946793e-01] [ 1.84001099e-03 -4.57260970e-05 9.99998306e-01 5.21532966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.748639999999995 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:41.98, Y:0.53, Z:0.52 [[ 9.99751088e-01 -2.22345243e-02 -1.84057365e-03 4.19834444e+01] [ 2.22345539e-02 9.99752782e-01 -4.38058295e-06 5.25809242e-01] [ 1.84021602e-03 -3.65448415e-05 9.99998306e-01 5.24504862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80863999999999 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:42.05, Y:0.53, Z:0.52 [[ 9.99805319e-01 -1.96452618e-02 -1.84057516e-03 4.20470390e+01] [ 1.96452885e-02 9.99807013e-01 -3.61043167e-06 5.27006741e-01] [ 1.84029088e-03 -3.25489011e-05 9.99998306e-01 5.24563463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86863999999999 meters Centerline goodness : 0.996166 with order 1 Centerline is valid? [True, True] Translation: X:42.11, Y:0.53, Z:0.55 [[ 9.99799100e-01 -1.99592567e-02 -1.84057648e-03 4.21105175e+01] [ 1.99592855e-02 9.99800794e-01 -2.71609284e-06 5.25296133e-01] [ 1.84026403e-03 -3.40210443e-05 9.99998306e-01 5.51046764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.928639999999994 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:42.17, Y:0.53, Z:0.53 [[ 9.99824856e-01 -1.86244285e-02 -1.84057737e-03 4.21739035e+01] [ 1.86244567e-02 9.99826550e-01 -1.81009151e-06 5.25441342e-01] [ 1.84029183e-03 -3.24699790e-05 9.99998306e-01 5.26525775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.98863999999999 meters Centerline goodness : 0.997397 with order 1 Centerline is valid? [True, True] Translation: X:42.24, Y:0.52, Z:0.55 [[ 9.99778260e-01 -2.09771918e-02 -1.84057781e-03 4.22370152e+01] [ 2.09772256e-02 9.99779954e-01 -9.13672241e-07 5.23700639e-01] [ 1.84019197e-03 -3.76967465e-05 9.99998306e-01 5.50719894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.04863999999999 meters Centerline goodness : 0.996804 with order 1 Centerline is valid? [True, True] Translation: X:42.30, Y:0.52, Z:0.55 [[ 9.99787665e-01 -2.05240556e-02 -1.84057782e-03 4.22987334e+01] [ 2.05240904e-02 9.99789359e-01 -1.68719882e-08 5.20256322e-01] [ 1.84019047e-03 -3.77593171e-05 9.99998306e-01 5.51441849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.108639999999994 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:42.36, Y:0.51, Z:0.53 [[ 9.99819708e-01 -1.88987770e-02 -1.84057754e-03 4.23614787e+01] [ 1.88988103e-02 9.99821402e-01 7.11973345e-07 5.12904447e-01] [ 1.84023536e-03 -3.54965707e-05 9.99998306e-01 5.28095832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.16863999999999 meters Centerline goodness : 0.998277 with order 1 Centerline is valid? [True, True] Translation: X:42.42, Y:0.50, Z:0.55 [[ 9.99887436e-01 -1.48905225e-02 -1.84057739e-03 4.24238834e+01] [ 1.48905496e-02 9.99889130e-01 9.92818009e-07 5.04872582e-01] [ 1.84035854e-03 -2.83999151e-05 9.99998306e-01 5.51958363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22863999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:42.49, Y:0.50, Z:0.53 [[ 9.99966180e-01 -8.01563335e-03 -1.84057662e-03 4.24856945e+01] [ 8.01565021e-03 9.99967874e-01 1.78188268e-06 5.01455632e-01] [ 1.84050321e-03 -1.65352408e-05 9.99998306e-01 5.29344874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.288639999999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:42.55, Y:0.50, Z:0.53 [[ 9.99996748e-01 -1.76539456e-03 -1.84057644e-03 4.25459728e+01] [ 1.76540114e-03 9.99998442e-01 1.95363670e-06 4.95667778e-01] [ 1.84057012e-03 -5.20298610e-06 9.99998306e-01 5.29881865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.348639999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:42.61, Y:0.49, Z:0.53 [[ 9.99996060e-01 2.11936675e-03 -1.84057644e-03 4.26055883e+01] [-2.11936675e-03 9.99997754e-01 1.95363670e-06 4.92509371e-01] [ 1.84057645e-03 1.94722751e-06 9.99998306e-01 5.28965470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40863999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:42.66, Y:0.49, Z:0.53 [[ 9.99997334e-01 1.39444368e-03 -1.84057656e-03 4.26644707e+01] [-1.39444266e-03 9.99999028e-01 1.83662464e-06 4.91168222e-01] [ 1.84057733e-03 7.29958729e-07 9.99998306e-01 5.28691912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46863999999999 meters Centerline goodness : 0.996608 with order 1 Centerline is valid? [True, True] Translation: X:42.72, Y:0.49, Z:0.55 [[ 9.99998111e-01 6.25153984e-04 -1.84057676e-03 4.27233545e+01] [-6.25152092e-04 9.99999805e-01 1.60297508e-06 4.92477989e-01] [ 1.84057740e-03 -4.52331640e-07 9.99998306e-01 5.52350923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.528639999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:42.78, Y:0.49, Z:0.53 [[ 9.99997985e-01 8.01097320e-04 -1.84057694e-03 4.27817722e+01] [-8.01096158e-04 9.99999679e-01 1.36875762e-06 4.93646637e-01] [ 1.84057744e-03 1.05724252e-07 9.99998306e-01 5.28391902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58863999999999 meters Centerline goodness : 0.996509 with order 1 Centerline is valid? [True, True] Translation: X:42.84, Y:0.49, Z:0.55 [[ 9.99991596e-01 -3.66331076e-03 -1.84057718e-03 4.28407166e+01] [ 3.66331797e-03 9.99993290e-01 5.45202018e-07 4.93211636e-01] [ 1.84056283e-03 -7.28781689e-06 9.99998306e-01 5.52416487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64863999999999 meters Centerline goodness : 0.996612 with order 1 Centerline is valid? [True, True] Translation: X:42.90, Y:0.49, Z:0.55 [[ 9.99993998e-01 -2.93530213e-03 -1.84057722e-03 4.28999808e+01] [ 2.93530767e-03 9.99995692e-01 3.12638259e-07 4.92029242e-01] [ 1.84056837e-03 -5.71529682e-06 9.99998306e-01 5.51539626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.708639999999995 meters Centerline goodness : 0.996111 with order 1 Centerline is valid? [True, True] Translation: X:42.96, Y:0.49, Z:0.55 [[ 9.99997541e-01 -1.23696632e-03 -1.84057723e-03 4.29598270e+01] [ 1.23696878e-03 9.99999235e-01 1.96104873e-07 4.93937700e-01] [ 1.84057558e-03 -2.47284097e-06 9.99998306e-01 5.54978919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76863999999999 meters Centerline goodness : 0.995775 with order 1 Centerline is valid? [True, True] Translation: X:43.02, Y:0.49, Z:0.55 [[ 9.99997036e-01 -1.59372706e-03 -1.84057724e-03 4.30192375e+01] [ 1.59372990e-03 9.99998730e-01 7.82340227e-08 4.92362723e-01] [ 1.84057478e-03 -3.01161677e-06 9.99998306e-01 5.52767624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.82863999999999 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:43.08, Y:0.49, Z:0.53 [[ 9.99996563e-01 -1.86722784e-03 -1.84057723e-03 4.30791368e+01] [ 1.86723093e-03 9.99998257e-01 -4.00369223e-08 4.94829548e-01] [ 1.84057410e-03 -3.39674595e-06 9.99998306e-01 5.29780078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.888639999999995 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:43.14, Y:0.49, Z:0.54 [[ 9.99944414e-01 -1.03817684e-02 -1.84057722e-03 4.31388907e+01] [ 1.03817857e-02 9.99946108e-01 -1.57136734e-07 4.92741950e-01] [ 1.84047966e-03 -1.89513503e-05 9.99998306e-01 5.43280683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94863999999999 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:43.20, Y:0.49, Z:0.54 [[ 9.99896470e-01 -1.42709859e-02 -1.84057722e-03 4.31999438e+01] [ 1.42710097e-02 9.99898164e-01 -2.15456088e-07 4.92343044e-01] [ 1.84039286e-03 -2.60514615e-05 9.99998306e-01 5.40410175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00863999999999 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:43.26, Y:0.49, Z:0.55 [[ 9.99775870e-01 -2.10908059e-02 -1.84057722e-03 4.32615163e+01] [ 2.10908415e-02 9.99777563e-01 -1.01121855e-07 4.87285504e-01] [ 1.84016995e-03 -3.87182232e-05 9.99998306e-01 5.48892440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.068639999999995 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:43.32, Y:0.48, Z:0.55 [[ 9.99683313e-01 -2.50975201e-02 -1.84057722e-03 4.33237970e+01] [ 2.50975626e-02 9.99685007e-01 1.24241868e-08 4.82147344e-01] [ 1.83999714e-03 -4.62064224e-05 9.99998306e-01 5.45007871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12863999999999 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:43.39, Y:0.45, Z:0.55 [[ 9.97917288e-01 -6.44802215e-02 -1.84057688e-03 4.33870408e+01] [ 6.44803322e-02 9.97918978e-01 7.95688188e-07 4.47758693e-01] [ 1.83669530e-03 -1.19475040e-04 9.99998306e-01 5.45478408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.18863999999999 meters Centerline goodness : 0.997985 with order 1 Centerline is valid? [True, True] Translation: X:43.45, Y:0.46, Z:0.55 [[ 9.99533972e-01 -3.04705002e-02 -1.84057605e-03 4.34494805e+01] [ 3.04705549e-02 9.99535665e-01 1.70124575e-06 4.62575831e-01] [ 1.83966957e-03 -5.77838264e-05 9.99998306e-01 5.48173542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.248639999999995 meters Centerline goodness : 0.997440 with order 1 Centerline is valid? [True, True] Translation: X:43.51, Y:0.45, Z:0.55 [[ 9.99707595e-01 -2.41109247e-02 -1.84057582e-03 4.35118108e+01] [ 2.41109691e-02 9.99709288e-01 1.92369549e-06 4.51546449e-01] [ 1.83999436e-03 -4.63011996e-05 9.99998306e-01 5.48743626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30863999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:43.57, Y:0.45, Z:0.53 [[ 9.99836566e-01 -1.79848140e-02 -1.84057466e-03 4.35729035e+01] [ 1.79848495e-02 9.99838260e-01 2.70605592e-06 4.47785065e-01] [ 1.84022830e-03 -3.58080720e-05 9.99998306e-01 5.33474201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36863999999999 meters Centerline goodness : 0.996953 with order 1 Centerline is valid? [True, True] Translation: X:43.63, Y:0.44, Z:0.55 [[ 9.99983937e-01 -5.36087120e-03 -1.84057449e-03 4.36339730e+01] [ 5.36088548e-03 9.99985630e-01 2.82154248e-06 4.42799846e-01] [ 1.84053291e-03 -1.26886062e-05 9.99998306e-01 5.50207896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.428639999999994 meters Centerline goodness : 0.994006 with order 1 Centerline is valid? [True, True] Translation: X:43.69, Y:0.44, Z:0.56 [[ 9.99998240e-01 -3.63508035e-04 -1.84057420e-03 4.36937172e+01] [ 3.63514167e-04 9.99999934e-01 2.99699723e-06 4.41013810e-01] [ 1.84057299e-03 -3.66606675e-06 9.99998306e-01 5.57363521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.48863999999999 meters Centerline goodness : 0.994889 with order 1 Centerline is valid? [True, True] Translation: X:43.75, Y:0.44, Z:0.55 [[ 9.99995762e-01 2.25569383e-03 -1.84057439e-03 4.37525730e+01] [-2.25569236e-03 9.99997456e-01 2.87688857e-06 4.40757058e-01] [ 1.84057620e-03 1.27489320e-06 9.99998306e-01 5.54499128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.54863999999999 meters Centerline goodness : 0.837741 with order 3 Centerline is valid? [True, False] Translation: X:43.83, Y:0.47, Z:0.56 [[ 9.99206400e-01 1.90488309e-02 -3.49815859e-02 4.38256286e+01] [-2.00814060e-02 9.99365768e-01 -2.94074687e-02 4.66953025e-01] [ 3.43992215e-02 3.00866103e-02 9.98955199e-01 5.62333372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.608639999999994 meters Centerline goodness : 0.958722 with order 1 Centerline is valid? [False, True] Translation: X:43.82, Y:0.46, Z:0.56 [[ 9.99661526e-01 1.15359128e-02 -2.33185977e-02 4.38150245e+01] [-1.20107891e-02 9.99721212e-01 -2.03282809e-02 4.61551615e-01] [ 2.30775915e-02 2.06014751e-02 9.99521387e-01 5.59961264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.66863999999999 meters Centerline goodness : 0.997492 with order 1 Centerline is valid? [True, True] Translation: X:43.88, Y:0.42, Z:0.58 [[ 9.97065699e-01 -7.23991123e-02 -2.48668588e-02 4.38776889e+01] [ 7.23690669e-02 9.97375695e-01 -2.10724876e-03 4.15937910e-01] [ 2.49541635e-02 3.01474088e-04 9.99688551e-01 5.79550878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72863999999999 meters Centerline goodness : 0.991590 with order 1 Centerline is valid? [True, True] Translation: X:43.94, Y:0.43, Z:0.59 [[ 9.97221948e-01 -7.02142485e-02 -2.48665761e-02 4.39369954e+01] [ 7.01834410e-02 9.97531869e-01 -2.11057905e-03 4.25857218e-01] [ 2.49533949e-02 3.59493875e-04 9.99688551e-01 5.90221284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.788639999999994 meters Centerline goodness : 0.995763 with order 1 Centerline is valid? [True, True] Translation: X:44.00, Y:0.43, Z:0.59 [[ 9.97265184e-01 -6.95974588e-02 -2.48665628e-02 4.39972326e+01] [ 6.95664557e-02 9.97575086e-01 -2.11073511e-03 4.33061875e-01] [ 2.49531654e-02 3.75083996e-04 9.99688551e-01 5.86587859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.84863999999999 meters Centerline goodness : 0.951889 with order 2 Centerline is valid? [True, True] Translation: X:44.07, Y:0.49, Z:0.56 [[ 9.99568801e-01 1.56162298e-02 -2.48665628e-02 4.40710380e+01] [-1.56735219e-02 9.99874935e-01 -2.11073511e-03 4.85255430e-01] [ 2.48304912e-02 2.49957158e-03 9.99688551e-01 5.58911674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90863999999999 meters Centerline goodness : 0.995620 with order 1 Centerline is valid? [True, True] Translation: X:44.11, Y:0.44, Z:0.59 [[ 9.95497168e-01 -9.14172252e-02 -2.50654913e-02 4.41136089e+01] [ 9.14493949e-02 9.95809715e-01 1.37745229e-04 4.39757217e-01] [ 2.49478675e-02 -2.42934900e-03 9.99685802e-01 5.88641595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96863999999999 meters Centerline goodness : 0.993067 with order 1 Centerline is valid? [True, True] Translation: X:44.17, Y:0.44, Z:0.59 [[ 9.94743935e-01 -9.93349970e-02 -2.48407170e-02 4.41731750e+01] [ 9.93086404e-02 9.95054031e-01 -2.29547849e-03 4.43287020e-01] [ 2.49458770e-02 -1.83484523e-04 9.99688786e-01 5.94780050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.028639999999996 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:44.23, Y:0.44, Z:0.57 [[ 9.94961128e-01 -9.71354704e-02 -2.48405689e-02 4.42343332e+01] [ 9.71083883e-02 9.95271161e-01 -2.29708033e-03 4.44988845e-01] [ 2.49462298e-02 -1.26721976e-04 9.99688786e-01 5.73357714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08863999999999 meters Centerline goodness : 0.948352 with order 3 Centerline is valid? [True, False] Translation: X:44.26, Y:0.46, Z:0.58 [[ 9.95769988e-01 -8.48840042e-02 -3.51686890e-02 4.42646935e+01] [ 8.42309553e-02 9.96252394e-01 -1.96548426e-02 4.55702975e-01] [ 3.67052723e-02 1.66094101e-02 9.99188096e-01 5.80024253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14863999999999 meters Centerline goodness : 0.998422 with order 1 Centerline is valid? [False, True] Translation: X:44.30, Y:0.48, Z:0.59 [[ 9.96984162e-01 -6.11641383e-02 -4.77653535e-02 4.43004696e+01] [ 5.91239086e-02 9.97323281e-01 -4.30190198e-02 4.75278518e-01] [ 5.02687204e-02 4.00652070e-02 9.97931779e-01 5.86449426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.208639999999995 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:44.36, Y:0.44, Z:0.58 [[ 9.97042573e-01 -5.83768521e-02 -4.99825101e-02 4.43612207e+01] [ 5.83149194e-02 9.98294592e-01 -2.69771276e-03 4.40204543e-01] [ 5.00547535e-02 -2.24991579e-04 9.98746450e-01 5.80992562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26863999999999 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:44.42, Y:0.44, Z:0.57 [[ 9.97296322e-01 -5.38694550e-02 -4.99812804e-02 4.44213816e+01] [ 5.38007313e-02 9.98547986e-01 -2.72030706e-03 4.39857540e-01] [ 5.00552483e-02 2.39227882e-05 9.98746450e-01 5.71035043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32863999999999 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:44.48, Y:0.44, Z:0.58 [[ 9.97429096e-01 -5.13525807e-02 -4.99811049e-02 4.44790377e+01] [ 5.12805372e-02 9.98680574e-01 -2.72352762e-03 4.42525411e-01] [ 5.00550187e-02 1.53467790e-04 9.98746450e-01 5.75841512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.388639999999995 meters Centerline goodness : 0.998574 with order 1 Centerline is valid? [True, True] Translation: X:44.54, Y:0.45, Z:0.58 [[ 9.97679697e-01 -4.62304325e-02 -4.99796946e-02 4.45363079e+01] [ 4.61506797e-02 9.98930707e-01 -2.74916631e-03 4.48499249e-01] [ 5.00533468e-02 4.36190533e-04 9.98746450e-01 5.79077434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44863999999999 meters Centerline goodness : 0.996660 with order 1 Centerline is valid? [True, True] Translation: X:44.59, Y:0.46, Z:0.60 [[ 9.97970379e-01 -3.94625898e-02 -4.99782606e-02 4.45932341e+01] [ 3.93730607e-02 9.99220727e-01 -2.77499380e-03 4.57083889e-01] [ 5.00488223e-02 8.01564530e-04 9.98746451e-01 5.99272298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50863999999999 meters Centerline goodness : 0.997093 with order 1 Centerline is valid? [True, True] Translation: X:44.65, Y:0.47, Z:0.60 [[ 9.98140035e-01 -3.49097263e-02 -4.99778077e-02 4.46504301e+01] [ 3.48140874e-02 9.99389931e-01 -2.78312641e-03 4.67019939e-01] [ 5.00444759e-02 1.03801813e-03 9.98746451e-01 6.01494746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.568639999999995 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:44.71, Y:0.48, Z:0.59 [[ 9.98130346e-01 -3.51878056e-02 -4.99763090e-02 4.47090217e+01] [ 3.50911807e-02 9.99380165e-01 -2.80978290e-03 4.78765420e-01] [ 5.00442021e-02 1.05080188e-03 9.98746451e-01 5.88900974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62863999999999 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:44.77, Y:0.49, Z:0.59 [[ 9.97929702e-01 -4.04822365e-02 -4.99749842e-02 4.47669648e+01] [ 4.03910732e-02 9.99179931e-01 -2.83315138e-03 4.85920053e-01] [ 5.00486936e-02 8.08742667e-04 9.98746451e-01 5.90645829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68863999999999 meters Centerline goodness : 0.998230 with order 1 Centerline is valid? [True, True] Translation: X:44.83, Y:0.49, Z:0.59 [[ 9.97596582e-01 -4.79969870e-02 -4.99734889e-02 4.48251866e+01] [ 4.79139332e-02 9.98847375e-01 -2.85928668e-03 4.90373367e-01] [ 5.00531254e-02 4.57988208e-04 9.98746452e-01 5.93281705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.748639999999995 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:44.88, Y:0.49, Z:0.60 [[ 9.97324953e-01 -5.33452963e-02 -4.99721736e-02 4.48840666e+01] [ 5.32678076e-02 9.98576103e-01 -2.88209233e-03 4.94203421e-01] [ 5.00547645e-02 2.12474468e-04 9.98746452e-01 5.96362765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80863999999999 meters Centerline goodness : 0.998378 with order 1 Centerline is valid? [True, True] Translation: X:44.94, Y:0.50, Z:0.60 [[ 9.96855885e-01 -6.14919524e-02 -4.99708435e-02 4.49422641e+01] [ 6.14235416e-02 9.98107564e-01 -2.90497310e-03 4.96335998e-01] [ 5.00549094e-02 -1.73546656e-04 9.98746452e-01 5.97171055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.86863999999999 meters Centerline goodness : 0.996949 with order 1 Centerline is valid? [True, True] Translation: X:45.00, Y:0.50, Z:0.62 [[ 9.96428707e-01 -6.80653977e-02 -4.99693183e-02 4.50010263e+01] [ 6.80039399e-02 9.97680747e-01 -2.93097651e-03 4.95269999e-01] [ 5.00529249e-02 -4.77601382e-04 9.98746453e-01 6.15440357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.928639999999994 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:45.06, Y:0.49, Z:0.60 [[ 9.95848697e-01 -7.60819863e-02 -4.99690384e-02 4.50621419e+01] [ 7.60303674e-02 9.97101181e-01 -2.93574028e-03 4.91860335e-01] [ 5.00475441e-02 -8.75611221e-04 9.98746453e-01 6.02329500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98863999999999 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:45.12, Y:0.48, Z:0.60 [[ 9.95414990e-01 -8.15604228e-02 -4.99689467e-02 4.51215127e+01] [ 8.15156181e-02 9.96667736e-01 -2.93729958e-03 4.84225661e-01] [ 5.00420044e-02 -1.14941754e-03 9.98746453e-01 6.03518999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04863999999999 meters Centerline goodness : 0.996407 with order 1 Centerline is valid? [True, True] Translation: X:45.18, Y:0.48, Z:0.63 [[ 9.94963615e-01 -8.68943933e-02 -4.99676775e-02 4.51809387e+01] [ 8.68552280e-02 9.96216550e-01 -2.95873461e-03 4.76173178e-01] [ 5.00357248e-02 -1.39612074e-03 9.98746453e-01 6.27433541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.108639999999994 meters Centerline goodness : 0.996559 with order 1 Centerline is valid? [True, True] Translation: X:45.24, Y:0.47, Z:0.63 [[ 9.95011990e-01 -8.63388073e-02 -4.99674958e-02 4.52406222e+01] [ 8.62987885e-02 9.96264898e-01 -2.96180120e-03 4.70000268e-01] [ 5.00365804e-02 -1.36510665e-03 9.98746453e-01 6.29867821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.16863999999999 meters Centerline goodness : 0.996308 with order 1 Centerline is valid? [True, True] Translation: X:45.30, Y:0.46, Z:0.63 [[ 9.94933801e-01 -8.72358990e-02 -4.99662908e-02 4.53003870e+01] [ 8.71959967e-02 9.96186712e-01 -2.98199081e-03 4.60828650e-01] [ 5.00358917e-02 -1.38997708e-03 9.98746453e-01 6.32775692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22863999999999 meters Centerline goodness : 0.996015 with order 1 Centerline is valid? [True, True] Translation: X:45.36, Y:0.45, Z:0.64 [[ 9.94590383e-01 -9.10684946e-02 -4.99649724e-02 4.53597027e+01] [ 9.10323191e-02 9.95843408e-01 -3.00392044e-03 4.53669574e-01] [ 5.00308509e-02 -1.56075693e-03 9.98746453e-01 6.36865236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.288639999999994 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:45.42, Y:0.44, Z:0.62 [[ 9.94500379e-01 -9.20468822e-02 -4.99636680e-02 4.54200263e+01] [ 9.20108583e-02 9.95753407e-01 -3.02546281e-03 4.42928220e-01] [ 5.00299771e-02 -1.58837606e-03 9.98746454e-01 6.19954025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.34863999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:45.48, Y:0.43, Z:0.62 [[ 9.94709412e-01 -8.97599813e-02 -4.99632967e-02 4.54794970e+01] [ 8.97207692e-02 9.95962345e-01 -3.03158160e-03 4.31535974e-01] [ 5.00336769e-02 -1.46720267e-03 9.98746454e-01 6.21718890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40863999999999 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:45.54, Y:0.43, Z:0.63 [[ 9.95105755e-01 -8.52545246e-02 -4.99620083e-02 4.55385981e+01] [ 8.52085810e-02 9.96358459e-01 -3.05266907e-03 4.28159907e-01] [ 5.00403234e-02 -1.21946327e-03 9.98746454e-01 6.25793738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46863999999999 meters Centerline goodness : 0.996745 with order 1 Centerline is valid? [True, True] Translation: X:45.60, Y:0.42, Z:0.65 [[ 9.95624933e-01 -7.89615276e-02 -4.99606802e-02 4.55976107e+01] [ 7.89065822e-02 9.96877274e-01 -3.07425248e-03 4.24744140e-01] [ 5.00474144e-02 -8.81424097e-04 9.98746454e-01 6.47725166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.52863999999999 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:45.66, Y:0.43, Z:0.63 [[ 9.96144025e-01 -7.21181752e-02 -4.99604862e-02 4.56571335e+01] [ 7.20544677e-02 9.97395951e-01 -3.07740204e-03 4.25320881e-01] [ 5.00523233e-02 -5.34340587e-04 9.98746454e-01 6.30860024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58863999999999 meters Centerline goodness : 0.998571 with order 1 Centerline is valid? [True, True] Translation: X:45.72, Y:0.42, Z:0.63 [[ 9.96334845e-01 -6.94324488e-02 -4.99600914e-02 4.57157473e+01] [ 6.93650457e-02 9.97586578e-01 -3.08379863e-03 4.24404685e-01] [ 5.00536323e-02 -3.92987988e-04 9.98746454e-01 6.34436551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64863999999999 meters Centerline goodness : 0.994930 with order 1 Centerline is valid? [True, True] Translation: X:45.77, Y:0.43, Z:0.66 [[ 9.96397309e-01 -6.85312467e-02 -4.99586871e-02 4.57737831e+01] [ 6.84615791e-02 9.97648917e-01 -3.10638272e-03 4.25156171e-01] [ 5.00541144e-02 -3.25059230e-04 9.98746454e-01 6.57400629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.708639999999995 meters Centerline goodness : 0.993358 with order 1 Centerline is valid? [True, True] Translation: X:45.83, Y:0.43, Z:0.66 [[ 9.96560864e-01 -6.61114033e-02 -4.99572549e-02 4.58327113e+01] [ 6.60375504e-02 9.97812232e-01 -3.12924783e-03 4.25679324e-01] [ 5.00548390e-02 -1.80568817e-04 9.98746455e-01 6.61203579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76863999999999 meters Centerline goodness : 0.992260 with order 1 Centerline is valid? [True, True] Translation: X:45.89, Y:0.42, Z:0.67 [[ 9.96737966e-01 -6.33864753e-02 -4.99557957e-02 4.58913772e+01] [ 6.33080424e-02 9.97989055e-01 -3.15237162e-03 4.24476568e-01] [ 5.00551551e-02 -2.05151560e-05 9.98746455e-01 6.65322739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82863999999999 meters Centerline goodness : 0.992816 with order 1 Centerline is valid? [True, True] Translation: X:45.95, Y:0.43, Z:0.67 [[ 9.96991192e-01 -5.92716292e-02 -4.99543406e-02 4.59506911e+01] [ 5.91868857e-02 9.98241870e-01 -3.17526372e-03 4.25513537e-01] [ 5.00547175e-02 2.09068117e-04 9.98746455e-01 6.65430844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.888639999999995 meters Centerline goodness : 0.991649 with order 1 Centerline is valid? [True, True] Translation: X:46.01, Y:0.43, Z:0.67 [[ 9.97242660e-01 -5.48797719e-02 -4.99528639e-02 4.60090765e+01] [ 5.47883653e-02 9.98492867e-01 -3.19832797e-03 4.29789877e-01] [ 5.00531018e-02 4.52673331e-04 9.98746455e-01 6.70864481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94863999999999 meters Centerline goodness : 0.991525 with order 1 Centerline is valid? [True, True] Translation: X:46.07, Y:0.44, Z:0.67 [[ 9.97459077e-01 -5.07961866e-02 -4.99513464e-02 4.60669694e+01] [ 5.06984839e-02 9.98708808e-01 -3.22185537e-03 4.37303488e-01] [ 5.00505076e-02 6.81211349e-04 9.98746456e-01 6.73879281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00863999999999 meters Centerline goodness : 0.989965 with order 1 Centerline is valid? [True, True] Translation: X:46.12, Y:0.45, Z:0.68 [[ 9.97807332e-01 -4.34217174e-02 -4.99507990e-02 4.61245950e+01] [ 4.33143559e-02 9.99056270e-01 -3.23031990e-03 4.49288965e-01] [ 5.00439250e-02 1.05965020e-03 9.98746456e-01 6.77552548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.068639999999995 meters Centerline goodness : 0.990259 with order 1 Centerline is valid? [True, True] Translation: X:46.18, Y:0.46, Z:0.68 [[ 9.97906344e-01 -4.10852572e-02 -4.99492743e-02 4.61831075e+01] [ 4.09738008e-02 9.99154923e-01 -3.25372616e-03 4.58386777e-01] [ 5.00407436e-02 1.20030236e-03 9.98746456e-01 6.80649684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12863999999999 meters Centerline goodness : 0.949766 with order 3 Centerline is valid? [True, False] Translation: X:46.14, Y:0.49, Z:0.69 [[ 9.98365084e-01 -4.05315746e-02 -4.03032363e-02 4.61420726e+01] [ 3.90313374e-02 9.98540115e-01 -3.73389069e-02 4.89415891e-01] [ 4.17578029e-02 3.57047717e-02 9.98489587e-01 6.85820054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18863999999999 meters Centerline goodness : 0.991579 with order 1 Centerline is valid? [False, True] Translation: X:46.10, Y:0.51, Z:0.69 [[ 9.99068265e-01 -3.35523452e-02 -2.71448385e-02 4.60970479e+01] [ 3.17603726e-02 9.97447553e-01 -6.39504379e-02 5.12037129e-01] [ 2.92212399e-02 6.30287228e-02 9.97583831e-01 6.90481350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.248639999999995 meters Centerline goodness : 0.998229 with order 1 Centerline is valid? [True, True] Translation: X:46.16, Y:0.47, Z:0.67 [[ 9.99135637e-01 -2.80516332e-02 -3.06770910e-02 4.61589130e+01] [ 2.80122924e-02 9.99606114e-01 -1.71152000e-03 4.68976914e-01] [ 3.07130186e-02 8.50704983e-04 9.99527882e-01 6.67789639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30863999999999 meters Centerline goodness : 0.992031 with order 1 Centerline is valid? [True, True] Translation: X:46.22, Y:0.48, Z:0.69 [[ 9.99123950e-01 -2.84657418e-02 -3.06762935e-02 4.62171351e+01] [ 2.84261610e-02 9.99594405e-01 -1.72569667e-03 4.76403575e-01] [ 3.07129746e-02 8.52175612e-04 9.99527882e-01 6.85252510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36863999999999 meters Centerline goodness : 0.992216 with order 1 Centerline is valid? [True, True] Translation: X:46.27, Y:0.49, Z:0.69 [[ 9.99086637e-01 -2.97473606e-02 -3.06754870e-02 4.62748864e+01] [ 2.97079471e-02 9.99557107e-01 -1.73991473e-03 4.86710180e-01] [ 3.07136590e-02 8.27019809e-04 9.99527882e-01 6.86880880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.428639999999994 meters Centerline goodness : 0.991242 with order 1 Centerline is valid? [True, True] Translation: X:46.33, Y:0.50, Z:0.69 [[ 9.98954555e-01 -3.38949517e-02 -3.06745567e-02 4.63328206e+01] [ 3.38569930e-02 9.99425145e-01 -1.75616542e-03 4.96764087e-01] [ 3.07164484e-02 7.15781200e-04 9.99527882e-01 6.90228334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48863999999999 meters Centerline goodness : 0.989562 with order 1 Centerline is valid? [True, True] Translation: X:46.39, Y:0.51, Z:0.69 [[ 9.98950159e-01 -3.40250234e-02 -3.06737343e-02 4.63906039e+01] [ 3.39866888e-02 9.99420718e-01 -1.77041273e-03 5.08045102e-01] [ 3.07162039e-02 7.26055419e-04 9.99527882e-01 6.94431778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54863999999999 meters Centerline goodness : 0.990653 with order 1 Centerline is valid? [True, True] Translation: X:46.45, Y:0.52, Z:0.70 [[ 9.99046805e-01 -3.10589076e-02 -3.06728940e-02 4.64484691e+01] [ 3.10187329e-02 9.99517210e-01 -1.78485470e-03 5.21684971e-01] [ 3.07135210e-02 8.31719076e-04 9.99527882e-01 6.95049935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.608639999999994 meters Centerline goodness : 0.990398 with order 1 Centerline is valid? [True, True] Translation: X:46.51, Y:0.54, Z:0.70 [[ 9.99022779e-01 -3.18231300e-02 -3.06720482e-02 4.65061662e+01] [ 3.17828728e-02 9.99493177e-01 -1.79927178e-03 5.37349535e-01] [ 3.07137614e-02 8.22667683e-04 9.99527883e-01 6.95535439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.66863999999999 meters Centerline goodness : 0.997590 with order 1 Centerline is valid? [True, True] Translation: X:46.56, Y:0.55, Z:0.68 [[ 9.98973504e-01 -3.33348965e-02 -3.06711994e-02 4.65636756e+01] [ 3.32949108e-02 9.99443925e-01 -1.81362702e-03 5.46311936e-01] [ 3.07146010e-02 7.90570490e-04 9.99527883e-01 6.80634742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72863999999999 meters Centerline goodness : 0.990653 with order 1 Centerline is valid? [True, True] Translation: X:46.62, Y:0.56, Z:0.70 [[ 9.98737118e-01 -3.97933007e-02 -3.06702270e-02 4.66205280e+01] [ 3.97558571e-02 9.99207748e-01 -1.82992416e-03 5.57399625e-01] [ 3.07187472e-02 6.08292013e-04 9.99527883e-01 6.98043639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.788639999999994 meters Centerline goodness : 0.997983 with order 1 Centerline is valid? [True, True] Translation: X:46.68, Y:0.56, Z:0.68 [[ 9.98301683e-01 -4.95292577e-02 -3.06692451e-02 4.66785666e+01] [ 4.94959035e-02 9.98772620e-01 -1.84623589e-03 5.63511012e-01] [ 3.07230450e-02 3.25098401e-04 9.99527883e-01 6.83608188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.84863999999999 meters Centerline goodness : 0.998326 with order 1 Centerline is valid? [True, True] Translation: X:46.74, Y:0.57, Z:0.68 [[ 9.97876590e-01 -5.74610367e-02 -3.06682241e-02 4.67359145e+01] [ 5.74309095e-02 9.98347745e-01 -1.86304345e-03 5.68014163e-01] [ 3.07246048e-02 9.77834474e-05 9.99527883e-01 6.84918390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90863999999999 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:46.80, Y:0.57, Z:0.69 [[ 9.97189182e-01 -6.83609383e-02 -3.06678558e-02 4.67950766e+01] [ 6.83357751e-02 9.97660628e-01 -1.86908693e-03 5.66748885e-01] [ 3.07238848e-02 -2.31878431e-04 9.99527883e-01 6.86574019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96863999999999 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:46.85, Y:0.56, Z:0.69 [[ 9.96516973e-01 -7.75462435e-02 -3.06676135e-02 4.68540021e+01] [ 7.75253034e-02 9.96988625e-01 -1.87305281e-03 5.60877188e-01] [ 3.07205101e-02 -5.10987126e-04 9.99527883e-01 6.86971390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.02863999999999 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:46.91, Y:0.56, Z:0.69 [[ 9.96495093e-01 -7.78269941e-02 -3.06673780e-02 4.69125833e+01] [ 7.78060685e-02 9.96966746e-01 -1.87690102e-03 5.57457543e-01] [ 3.07204296e-02 -5.15785457e-04 9.99527883e-01 6.89032809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08863999999999 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:46.97, Y:0.55, Z:0.69 [[ 9.96924311e-01 -7.21211247e-02 -3.06669409e-02 4.69716376e+01] [ 7.20972805e-02 9.97395825e-01 -1.88401626e-03 5.51696611e-01] [ 3.07229562e-02 -3.32781424e-04 9.99527883e-01 6.90795435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14863999999999 meters Centerline goodness : 0.990871 with order 1 Centerline is valid? [True, True] Translation: X:47.03, Y:0.55, Z:0.71 [[ 9.97375811e-01 -6.55823539e-02 -3.06667032e-02 4.70314773e+01] [ 6.55552996e-02 9.97847152e-01 -1.88787718e-03 5.48531830e-01] [ 3.07244939e-02 -1.27441885e-04 9.99527883e-01 7.14988511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.20863999999999 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:47.09, Y:0.55, Z:0.69 [[ 9.97744995e-01 -5.97032775e-02 -3.06666427e-02 4.70925263e+01] [ 5.96734157e-02 9.98216167e-01 -1.88885912e-03 5.48808160e-01] [ 3.07247096e-02 5.46164124e-05 9.99527883e-01 6.94410799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26863999999999 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:47.15, Y:0.55, Z:0.70 [[ 9.98051900e-01 -5.43320015e-02 -3.06665807e-02 4.71512300e+01] [ 5.42995731e-02 9.98522901e-01 -1.88986555e-03 5.51063844e-01] [ 3.07239633e-02 2.21001659e-04 9.99527883e-01 6.97518550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32863999999999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:47.21, Y:0.56, Z:0.70 [[ 9.98340001e-01 -4.87526266e-02 -3.06663352e-02 4.72084550e+01] [ 4.87174440e-02 9.98810805e-01 -1.89384108e-03 5.58403173e-01] [ 3.07221967e-02 3.96711842e-04 9.99527883e-01 6.98915945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.388639999999995 meters Centerline goodness : 0.996150 with order 1 Centerline is valid? [True, True] Translation: X:47.27, Y:0.57, Z:0.72 [[ 9.98355114e-01 -4.84427811e-02 -3.06653360e-02 4.72661347e+01] [ 4.84069597e-02 9.98825870e-01 -1.90988408e-03 5.67240943e-01] [ 3.07218510e-02 4.22326851e-04 9.99527883e-01 7.18004370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44863999999999 meters Centerline goodness : 0.993893 with order 1 Centerline is valid? [True, True] Translation: X:47.32, Y:0.58, Z:0.72 [[ 9.98346316e-01 -4.86243321e-02 -3.06644510e-02 4.73233031e+01] [ 4.85881631e-02 9.98817045e-01 -1.92399003e-03 5.76215935e-01] [ 3.07217290e-02 4.30879018e-04 9.99527883e-01 7.23400557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50863999999999 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:47.38, Y:0.59, Z:0.71 [[ 9.98521305e-01 -4.48882979e-02 -3.06634159e-02 4.73824605e+01] [ 4.48498656e-02 9.98991854e-01 -1.94034778e-03 5.87718215e-01] [ 3.07196016e-02 5.62228518e-04 9.99527884e-01 7.05228168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.568639999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:47.44, Y:0.59, Z:0.71 [[ 9.98477562e-01 -4.58515830e-02 -3.06625157e-02 4.74402037e+01] [ 4.58131711e-02 9.98948113e-01 -1.95447071e-03 5.93415169e-01] [ 3.07198778e-02 5.46748076e-04 9.99527884e-01 7.06072423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62863999999999 meters Centerline goodness : 0.993263 with order 1 Centerline is valid? [True, True] Translation: X:47.50, Y:0.60, Z:0.73 [[ 9.98134579e-01 -5.27942837e-02 -3.06614743e-02 4.74979126e+01] [ 5.27586474e-02 9.98605348e-01 -1.97067351e-03 6.00287128e-01] [ 3.07227525e-02 3.49339462e-04 9.99527884e-01 7.29084688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68863999999999 meters Centerline goodness : 0.992910 with order 1 Centerline is valid? [True, True] Translation: X:47.56, Y:0.61, Z:0.73 [[ 9.97786051e-01 -5.90159754e-02 -3.06612160e-02 4.75566799e+01] [ 5.89831515e-02 9.98257025e-01 -1.97468428e-03 6.05293048e-01] [ 3.07243122e-02 1.61817287e-04 9.99527884e-01 7.32196540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.748639999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:47.62, Y:0.61, Z:0.71 [[ 9.97657971e-01 -6.11430955e-02 -3.06609545e-02 4.76166245e+01] [ 6.11111512e-02 9.98129006e-01 -1.97873625e-03 6.09436863e-01] [ 3.07245741e-02 1.00375768e-04 9.99527884e-01 7.09199241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:47.68, Y:0.61, Z:0.71 [[ 9.97375562e-01 -6.55889250e-02 -3.06607535e-02 4.76754229e+01] [ 6.55589848e-02 9.97846728e-01 -1.98184547e-03 6.12747402e-01] [ 3.07247197e-02 -3.34436362e-05 9.99527884e-01 7.08803243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86863999999999 meters Centerline goodness : 0.994340 with order 1 Centerline is valid? [True, True] Translation: X:47.73, Y:0.61, Z:0.73 [[ 9.96877014e-01 -7.27746683e-02 -3.06604956e-02 4.77338668e+01] [ 7.27480019e-02 9.97348377e-01 -1.98582706e-03 6.14861317e-01] [ 3.07237134e-02 -2.50864444e-04 9.99527884e-01 7.32663636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.928639999999994 meters Centerline goodness : 0.995710 with order 1 Centerline is valid? [True, True] Translation: X:47.79, Y:0.62, Z:0.73 [[ 9.96559167e-01 -7.70050385e-02 -3.06602402e-02 4.77932594e+01] [ 7.69802518e-02 9.97030632e-01 -1.98976284e-03 6.15001511e-01] [ 3.07224204e-02 -3.77316613e-04 9.99527884e-01 7.32667824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.98863999999999 meters Centerline goodness : 0.995131 with order 1 Centerline is valid? [True, True] Translation: X:47.85, Y:0.61, Z:0.74 [[ 9.96085035e-01 -8.29130192e-02 -3.06599792e-02 4.78521262e+01] [ 8.28909051e-02 9.96556633e-01 -1.99377654e-03 6.12811179e-01] [ 3.07197157e-02 -5.55462449e-04 9.99527884e-01 7.35648051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04863999999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:47.91, Y:0.61, Z:0.71 [[ 9.95729783e-01 -8.70757178e-02 -3.06597187e-02 4.79118833e+01] [ 8.70554520e-02 9.96201464e-01 -1.99777406e-03 6.11979179e-01] [ 3.07172143e-02 -6.79852542e-04 9.99527884e-01 7.14967070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.108639999999994 meters Centerline goodness : 0.992222 with order 1 Centerline is valid? [True, True] Translation: X:47.97, Y:0.61, Z:0.74 [[ 9.95904385e-01 -8.50555912e-02 -3.06594592e-02 4.79696629e+01] [ 8.50342464e-02 9.96376018e-01 -2.00174870e-03 6.12317413e-01] [ 3.07186098e-02 -6.13553700e-04 9.99527884e-01 7.41048160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.16863999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:48.03, Y:0.61, Z:0.72 [[ 9.95724822e-01 -8.71326153e-02 -3.06592107e-02 4.80294253e+01] [ 8.71121372e-02 9.96196493e-01 -2.00554758e-03 6.11837418e-01] [ 3.07173468e-02 -6.73815869e-04 9.99527884e-01 7.16991227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:48.09, Y:0.61, Z:0.72 [[ 9.95505547e-01 -8.96032069e-02 -3.06589557e-02 4.80887069e+01] [ 8.95837796e-02 9.95977263e-01 -2.00943846e-03 6.12421713e-01] [ 3.07156749e-02 -7.46137999e-04 9.99527884e-01 7.18767910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.288639999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:48.15, Y:0.61, Z:0.72 [[ 9.95342719e-01 -9.13942897e-02 -3.06587088e-02 4.81477408e+01] [ 9.13755954e-02 9.95814464e-01 -2.01319829e-03 6.10041564e-01] [ 3.07143805e-02 -7.97635516e-04 9.99527884e-01 7.20145658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.34863999999999 meters Centerline goodness : 0.993088 with order 1 Centerline is valid? [True, True] Translation: X:48.21, Y:0.61, Z:0.75 [[ 9.95440701e-01 -9.03209292e-02 -3.06584637e-02 4.82061577e+01] [ 9.03016116e-02 9.95912421e-01 -2.01692385e-03 6.08511872e-01] [ 3.07153153e-02 -7.60780595e-04 9.99527884e-01 7.47112833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40863999999999 meters Centerline goodness : 0.994435 with order 1 Centerline is valid? [True, True] Translation: X:48.27, Y:0.60, Z:0.75 [[ 9.95508744e-01 -8.95678879e-02 -3.06583374e-02 4.82654568e+01] [ 8.95481544e-02 9.95980448e-01 -2.01884264e-03 6.03070067e-01] [ 3.07159281e-02 -7.35622023e-04 9.99527884e-01 7.47980215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46863999999999 meters Centerline goodness : 0.988679 with order 1 Centerline is valid? [True, True] Translation: X:48.33, Y:0.59, Z:0.75 [[ 9.95295932e-01 -9.19026128e-02 -3.06580766e-02 4.83258993e+01] [ 9.18838641e-02 9.95767676e-01 -2.02279453e-03 5.94891239e-01] [ 3.07142218e-02 -8.03703383e-04 9.99527884e-01 7.53508830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.52863999999999 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:48.39, Y:0.59, Z:0.73 [[ 9.95158444e-01 -9.33796378e-02 -3.06580118e-02 4.83857677e+01] [ 9.33615590e-02 9.95630214e-01 -2.02377619e-03 5.87354338e-01] [ 3.07130224e-02 -8.48301815e-04 9.99527884e-01 7.27609103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58863999999999 meters Centerline goodness : 0.991085 with order 1 Centerline is valid? [True, True] Translation: X:48.44, Y:0.58, Z:0.75 [[ 9.95355863e-01 -9.12515665e-02 -3.06570933e-02 4.84444026e+01] [ 9.12320536e-02 9.95827576e-01 -2.03759564e-03 5.84163223e-01] [ 3.07151127e-02 -7.68776819e-04 9.99527884e-01 7.54481141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64863999999999 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:48.50, Y:0.58, Z:0.73 [[ 9.95598872e-01 -8.85609622e-02 -3.06568343e-02 4.85039240e+01] [ 8.85400547e-02 9.96070525e-01 -2.04148625e-03 5.79665885e-01] [ 3.07171650e-02 -6.81856374e-04 9.99527884e-01 7.31914146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.70863999999999 meters Centerline goodness : 0.988372 with order 1 Centerline is valid? [True, True] Translation: X:48.56, Y:0.58, Z:0.76 [[ 9.96020687e-01 -8.36839666e-02 -3.06559195e-02 4.85626464e+01] [ 8.36603296e-02 9.96492211e-01 -2.05513186e-03 5.77275478e-01] [ 3.07203665e-02 -5.17730477e-04 9.99527884e-01 7.58910645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76863999999999 meters Centerline goodness : 0.991726 with order 1 Centerline is valid? [True, True] Translation: X:48.62, Y:0.58, Z:0.76 [[ 9.96110073e-01 -8.26135106e-02 -3.06550351e-02 4.86213841e+01] [ 8.25889635e-02 9.96581550e-01 -2.06824054e-03 5.75286262e-01] [ 3.07211070e-02 -4.71572341e-04 9.99527884e-01 7.58155312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82863999999999 meters Centerline goodness : 0.989797 with order 1 Centerline is valid? [True, True] Translation: X:48.68, Y:0.58, Z:0.76 [[ 9.96213019e-01 -8.13631279e-02 -3.06539183e-02 4.86797980e+01] [ 8.13374839e-02 9.96684437e-01 -2.08466155e-03 5.77102001e-01] [ 3.07218979e-02 -4.16545612e-04 9.99527884e-01 7.60986195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88863999999999 meters Centerline goodness : 0.990978 with order 1 Centerline is valid? [True, True] Translation: X:48.74, Y:0.58, Z:0.76 [[ 9.96228573e-01 -8.11728217e-02 -3.06529434e-02 4.87387812e+01] [ 8.11466496e-02 9.96699963e-01 -2.09889920e-03 5.77822024e-01] [ 3.07221612e-02 -3.96400300e-04 9.99527884e-01 7.63334219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94863999999999 meters Centerline goodness : 0.991212 with order 1 Centerline is valid? [True, True] Translation: X:48.80, Y:0.58, Z:0.76 [[ 9.96049738e-01 -8.33389303e-02 -3.06519544e-02 4.87978384e+01] [ 8.33133419e-02 9.96521159e-01 -2.11324544e-03 5.78836004e-01] [ 3.07214367e-02 -4.48819188e-04 9.99527884e-01 7.64110608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00863999999999 meters Centerline goodness : 0.993308 with order 1 Centerline is valid? [True, True] Translation: X:48.86, Y:0.58, Z:0.76 [[ 9.95927631e-01 -8.47860416e-02 -3.06509395e-02 4.88562546e+01] [ 8.47606883e-02 9.96399066e-01 -2.12786479e-03 5.80826386e-01] [ 3.07209807e-02 -4.78795389e-04 9.99527885e-01 7.63880357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.068639999999995 meters Centerline goodness : 0.987613 with order 1 Centerline is valid? [True, True] Translation: X:48.92, Y:0.58, Z:0.77 [[ 9.95937271e-01 -8.46728651e-02 -3.06505768e-02 4.89160678e+01] [ 8.46472979e-02 9.96408694e-01 -2.13307648e-03 5.83896056e-01] [ 3.07211148e-02 -4.70078129e-04 9.99527885e-01 7.73265924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.12863999999999 meters Centerline goodness : 0.995077 with order 1 Centerline is valid? [True, True] Translation: X:48.98, Y:0.59, Z:0.77 [[ 9.96011298e-01 -8.37976155e-02 -3.06505079e-02 4.89765599e+01] [ 8.37716036e-02 9.96482696e-01 -2.13406591e-03 5.88841111e-01] [ 3.07215304e-02 -4.42088436e-04 9.99527885e-01 7.67168531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18863999999999 meters Centerline goodness : 0.993546 with order 1 Centerline is valid? [True, True] Translation: X:49.04, Y:0.59, Z:0.77 [[ 9.96318486e-01 -8.00626080e-02 -3.06504965e-02 4.90351561e+01] [ 8.00348238e-02 9.96789783e-01 -2.13422852e-03 5.94172580e-01] [ 3.07229737e-02 -3.26735762e-04 9.99527885e-01 7.72555102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.248639999999995 meters Centerline goodness : 0.995857 with order 1 Centerline is valid? [True, True] Translation: X:49.09, Y:0.60, Z:0.77 [[ 9.96262715e-01 -8.07540098e-02 -3.06495210e-02 4.90941771e+01] [ 8.07261246e-02 9.96734006e-01 -2.14814722e-03 5.98691093e-01] [ 3.07228914e-02 -3.34098072e-04 9.99527885e-01 7.72053183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30863999999999 meters Centerline goodness : 0.994878 with order 1 Centerline is valid? [True, True] Translation: X:49.15, Y:0.60, Z:0.77 [[ 9.96383286e-01 -7.92528498e-02 -3.06485359e-02 4.91520697e+01] [ 7.92238250e-02 9.96854508e-01 -2.16211150e-03 6.04959544e-01] [ 3.07234847e-02 -2.73802485e-04 9.99527885e-01 7.73923261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36863999999999 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:49.21, Y:0.61, Z:0.76 [[ 9.96709590e-01 -7.50382000e-02 -3.06473885e-02 4.92105410e+01] [ 7.50066861e-02 9.97180652e-01 -2.17825519e-03 6.13220796e-01] [ 3.07244352e-02 -1.27671216e-04 9.99527885e-01 7.55946940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.428639999999994 meters Centerline goodness : 0.995321 with order 1 Centerline is valid? [True, True] Translation: X:49.27, Y:0.62, Z:0.78 [[ 9.96601231e-01 -7.64643391e-02 -3.06462413e-02 4.92673811e+01] [ 7.64330066e-02 9.97072305e-01 -2.19427743e-03 6.17787388e-01] [ 3.07243024e-02 -1.55564776e-04 9.99527885e-01 7.76026723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.48863999999999 meters Centerline goodness : 0.995805 with order 1 Centerline is valid? [True, True] Translation: X:49.33, Y:0.62, Z:0.78 [[ 9.96651716e-01 -7.58039465e-02 -3.06450571e-02 4.93257196e+01] [ 7.57717972e-02 9.97122734e-01 -2.21069370e-03 6.24982249e-01] [ 3.07244624e-02 -1.18739380e-04 9.99527885e-01 7.75905788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54863999999999 meters Centerline goodness : 0.995855 with order 1 Centerline is valid? [True, True] Translation: X:49.38, Y:0.63, Z:0.78 [[ 9.96668372e-01 -7.55850451e-02 -3.06440258e-02 4.93840417e+01] [ 7.55523555e-02 9.97139354e-01 -2.22489718e-03 6.31599735e-01] [ 3.07245331e-02 -9.77436860e-05 9.99527885e-01 7.77723074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.608639999999994 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:49.44, Y:0.64, Z:0.76 [[ 9.96906103e-01 -7.23825240e-02 -3.06429893e-02 4.94431403e+01] [ 7.23478854e-02 9.97376945e-01 -2.23908239e-03 6.39286451e-01] [ 3.07246815e-02 1.51994166e-05 9.99527885e-01 7.62021507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.66863999999999 meters Centerline goodness : 0.994777 with order 1 Centerline is valid? [True, True] Translation: X:49.50, Y:0.65, Z:0.78 [[ 9.97285585e-01 -6.69517224e-02 -3.06419454e-02 4.95007539e+01] [ 6.69140837e-02 9.97756197e-01 -2.25327897e-03 6.51357799e-01] [ 3.07240518e-02 1.96784937e-04 9.99527886e-01 7.84748546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72863999999999 meters Centerline goodness : 0.994870 with order 1 Centerline is valid? [True, True] Translation: X:49.56, Y:0.66, Z:0.79 [[ 9.97557490e-01 -6.27709349e-02 -3.06409006e-02 4.95577243e+01] [ 6.27308902e-02 9.98027903e-01 -2.26739781e-03 6.63527771e-01] [ 3.07228004e-02 3.39728693e-04 9.99527886e-01 7.85459672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.788639999999994 meters Centerline goodness : 0.994385 with order 1 Centerline is valid? [True, True] Translation: X:49.62, Y:0.68, Z:0.79 [[ 9.97581873e-01 -6.23828275e-02 -3.06396783e-02 4.96161293e+01] [ 6.23420962e-02 9.98052227e-01 -2.28379587e-03 6.76292997e-01] [ 3.07224688e-02 3.68131586e-04 9.99527886e-01 7.89318111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.84863999999999 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:49.68, Y:0.69, Z:0.77 [[ 9.97707827e-01 -6.03352163e-02 -3.06390927e-02 4.96750796e+01] [ 6.02932794e-02 9.98178075e-01 -2.29162512e-03 6.88277054e-01] [ 3.07215363e-02 4.39040936e-04 9.99527886e-01 7.71582025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90863999999999 meters Centerline goodness : 0.995128 with order 1 Centerline is valid? [True, True] Translation: X:49.73, Y:0.71, Z:0.79 [[ 9.97787189e-01 -5.90087976e-02 -3.06380051e-02 4.97326456e+01] [ 5.89657920e-02 9.98257340e-01 -2.30607549e-03 7.05356294e-01] [ 3.07206922e-02 4.94378348e-04 9.99527886e-01 7.93129829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96863999999999 meters Centerline goodness : 0.995228 with order 1 Centerline is valid? [True, True] Translation: X:49.79, Y:0.72, Z:0.79 [[ 9.97893489e-01 -5.71830975e-02 -3.06378528e-02 4.97900845e+01] [ 5.71391697e-02 9.98363555e-01 -2.30809651e-03 7.21383023e-01] [ 3.07196998e-02 5.52613003e-04 9.99527886e-01 7.94169473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.02863999999999 meters Centerline goodness : 0.993803 with order 1 Centerline is valid? [True, True] Translation: X:49.85, Y:0.73, Z:0.80 [[ 9.97916867e-01 -5.67742636e-02 -3.06367440e-02 4.98479935e+01] [ 5.67296943e-02 9.98386872e-01 -2.32272198e-03 7.33698564e-01] [ 3.07191939e-02 5.79870313e-04 9.99527886e-01 8.00039130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08863999999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:49.91, Y:0.75, Z:0.78 [[ 9.97686421e-01 -6.06894930e-02 -3.06364315e-02 4.99069099e+01] [ 6.06466420e-02 9.98156586e-01 -2.32683619e-03 7.46131112e-01] [ 3.07211704e-02 4.63456170e-04 9.99527886e-01 7.78924408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14863999999999 meters Centerline goodness : 0.953679 with order 2 Centerline is valid? [True, True] Translation: X:50.01, Y:0.80, Z:0.78 [[ 9.99487547e-01 9.27726564e-03 -3.06361945e-02 5.00098199e+01] [-9.35300855e-03 9.99953545e-01 -2.32995344e-03 7.97186345e-01] [ 3.06131557e-02 2.61530004e-03 9.99527886e-01 7.80915242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.20863999999999 meters Centerline goodness : 0.996606 with order 1 Centerline is valid? [True, True] Translation: X:50.02, Y:0.74, Z:0.80 [[ 9.95431802e-01 -9.02331398e-02 -3.12010762e-02 5.00186240e+01] [ 9.04267153e-02 9.95891318e-01 4.84687581e-03 7.43347407e-01] [ 3.06355320e-02 -7.64614516e-03 9.99501376e-01 8.00879878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26863999999999 meters Centerline goodness : 0.993205 with order 1 Centerline is valid? [True, True] Translation: X:50.08, Y:0.75, Z:0.81 [[ 9.94529971e-01 -9.98890941e-02 -3.05336695e-02 5.00773354e+01] [ 9.98531730e-02 9.94998512e-01 -2.70280960e-03 7.51083150e-01] [ 3.06509369e-02 -3.60858621e-04 9.99530085e-01 8.09750141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:50.14, Y:0.75, Z:0.78 [[ 9.94897098e-01 -9.61637644e-02 -3.05334871e-02 5.01382227e+01] [ 9.61260256e-02 9.95365496e-01 -2.70486856e-03 7.54414234e-01] [ 3.06520899e-02 -2.43996884e-04 9.99530085e-01 7.82351773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38863999999999 meters Centerline goodness : 0.995326 with order 1 Centerline is valid? [True, True] Translation: X:50.20, Y:0.75, Z:0.81 [[ 9.94894840e-01 -9.61871342e-02 -3.05334733e-02 5.01974888e+01] [ 9.61494017e-02 9.95363238e-01 -2.70502406e-03 7.54780308e-01] [ 3.06520854e-02 -2.44560710e-04 9.99530085e-01 8.10602546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.26, Y:0.76, Z:0.78 [[ 9.95588775e-01 -8.87169558e-02 -3.05334736e-02 5.02584636e+01] [ 8.86757088e-02 9.96056877e-01 -2.70502018e-03 7.60933528e-01] [ 3.06530576e-02 -1.44896909e-05 9.99530085e-01 7.84698711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:50.32, Y:0.77, Z:0.79 [[ 9.96079629e-01 -8.30245755e-02 -3.05334736e-02 5.03165452e+01] [ 8.29806534e-02 9.96547487e-01 -2.70502018e-03 7.66627875e-01] [ 3.06526396e-02 1.60727903e-04 9.99530085e-01 7.87931052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56863999999999 meters Centerline goodness : 0.997837 with order 1 Centerline is valid? [True, True] Translation: X:50.37, Y:0.78, Z:0.81 [[ 9.96413752e-01 -7.89136470e-02 -3.05331228e-02 5.03749158e+01] [ 7.88676735e-02 9.96881413e-01 -2.70897469e-03 7.78013032e-01] [ 3.06516777e-02 2.91183271e-04 9.99530085e-01 8.12354045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62863999999999 meters Centerline goodness : 0.996117 with order 1 Centerline is valid? [True, True] Translation: X:50.43, Y:0.79, Z:0.82 [[ 9.96625291e-01 -7.61955247e-02 -3.05331228e-02 5.04330891e+01] [ 7.61482758e-02 9.97092825e-01 -2.70897469e-03 7.88567549e-01] [ 3.06507694e-02 3.74788030e-04 9.99530085e-01 8.16656258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68863999999999 meters Centerline goodness : 0.996261 with order 1 Centerline is valid? [True, True] Translation: X:50.49, Y:0.80, Z:0.82 [[ 9.96860529e-01 -7.30536576e-02 -3.05327508e-02 5.04911142e+01] [ 7.30048070e-02 9.97327898e-01 -2.71316082e-03 8.02980242e-01] [ 3.06493705e-02 4.75605354e-04 9.99530085e-01 8.16961691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.748639999999995 meters Centerline goodness : 0.997345 with order 1 Centerline is valid? [True, True] Translation: X:50.55, Y:0.81, Z:0.82 [[ 9.96952018e-01 -7.17944330e-02 -3.05324784e-02 5.05494359e+01] [ 7.17448983e-02 9.97419316e-01 -2.71622297e-03 8.14156094e-01] [ 3.06486934e-02 5.17394417e-04 9.99530085e-01 8.18244836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80863999999999 meters Centerline goodness : 0.997541 with order 1 Centerline is valid? [True, True] Translation: X:50.61, Y:0.82, Z:0.82 [[ 9.97035233e-01 -7.06295609e-02 -3.05321162e-02 5.06070870e+01] [ 7.05793558e-02 9.97502458e-01 -2.72028868e-03 8.24360630e-01] [ 3.06479937e-02 5.57286564e-04 9.99530085e-01 8.19200073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86863999999999 meters Centerline goodness : 0.996806 with order 1 Centerline is valid? [True, True] Translation: X:50.67, Y:0.84, Z:0.82 [[ 9.96955898e-01 -7.17408873e-02 -3.05316594e-02 5.06654164e+01] [ 7.16910464e-02 9.97423163e-01 -2.72540551e-03 8.36960846e-01] [ 3.06485073e-02 5.28262486e-04 9.99530085e-01 8.22727469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.928639999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:50.72, Y:0.85, Z:0.80 [[ 9.96960118e-01 -7.16823332e-02 -3.05313872e-02 5.07236274e+01] [ 7.16323717e-02 9.97427370e-01 -2.72845101e-03 8.48866151e-01] [ 3.06484230e-02 5.33121159e-04 9.99530085e-01 8.01069417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98863999999999 meters Centerline goodness : 0.995728 with order 1 Centerline is valid? [True, True] Translation: X:50.78, Y:0.86, Z:0.83 [[ 9.96593825e-01 -7.66068541e-02 -3.05309338e-02 5.07805855e+01] [ 7.65590464e-02 9.97061302e-01 -2.73351586e-03 8.63038164e-01] [ 3.06506186e-02 3.86785850e-04 9.99530085e-01 8.28378807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:50.84, Y:0.87, Z:0.80 [[ 9.95899766e-01 -8.51559784e-02 -3.05305784e-02 5.08394421e+01] [ 8.51120624e-02 9.96367624e-01 -2.73747984e-03 8.70428292e-01] [ 3.06527926e-02 1.27735039e-04 9.99530085e-01 8.03826832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.108639999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:50.90, Y:0.87, Z:0.81 [[ 9.95265205e-01 -9.22771777e-02 -3.05302206e-02 5.08977889e+01] [ 9.22364872e-02 9.95733355e-01 -2.74146352e-03 8.73964443e-01] [ 3.06529335e-02 -8.75170513e-05 9.99530085e-01 8.05068245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.16863999999999 meters Centerline goodness : 0.994989 with order 1 Centerline is valid? [True, True] Translation: X:50.96, Y:0.88, Z:0.84 [[ 9.95059639e-01 -9.44682640e-02 -3.05296859e-02 5.09565413e+01] [ 9.44284220e-02 9.95527862e-01 -2.74740524e-03 8.78647336e-01] [ 3.06526956e-02 -1.49038000e-04 9.99530085e-01 8.35183484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:51.02, Y:0.88, Z:0.81 [[ 9.95460043e-01 -9.01512389e-02 -3.05295983e-02 5.10177877e+01] [ 9.01093364e-02 9.95928087e-01 -2.74837894e-03 8.83282353e-01] [ 3.06530542e-02 -1.51004248e-05 9.99530085e-01 8.11366461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.288639999999994 meters Centerline goodness : 0.968360 with order 2 Centerline is valid? [True, True] Translation: X:51.11, Y:0.93, Z:0.82 [[ 9.99533240e-01 -1.11657082e-03 -3.05295983e-02 5.11087718e+01] [ 1.03314134e-03 9.99995690e-01 -2.74837894e-03 9.29018949e-01] [ 3.05325354e-02 2.71555471e-03 9.99530085e-01 8.15269891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.34863999999999 meters Centerline goodness : 0.994601 with order 1 Centerline is valid? [True, True] Translation: X:51.13, Y:0.88, Z:0.84 [[ 9.94894763e-01 -9.60441097e-02 -3.09828776e-02 5.11345041e+01] [ 9.61642899e-02 9.95362560e-01 2.40899187e-03 8.79653447e-01] [ 3.06078269e-02 -5.37613982e-03 9.99517012e-01 8.37996010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.40863999999999 meters Centerline goodness : 0.984568 with order 1 Centerline is valid? [True, True] Translation: X:51.19, Y:0.90, Z:0.84 [[ 9.96991481e-01 -7.12663986e-02 -3.04809320e-02 5.11926006e+01] [ 7.12113273e-02 9.97457064e-01 -2.88987327e-03 9.00157860e-01] [ 3.06093718e-02 7.10591405e-04 9.99531171e-01 8.38084591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.46863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:51.25, Y:0.89, Z:0.82 [[ 9.94481532e-01 -1.00386286e-01 -3.04807441e-02 5.12543516e+01] [ 1.00344791e-01 9.94948521e-01 -2.89185375e-03 8.90174958e-01] [ 3.06170737e-02 -1.82688746e-04 9.99531171e-01 8.20422156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.52863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:51.31, Y:0.90, Z:0.82 [[ 9.94830043e-01 -9.68716394e-02 -3.04806631e-02 5.13118937e+01] [ 9.68284679e-02 9.95296880e-01 -2.89270726e-03 8.95669631e-01] [ 3.06175302e-02 -7.36438217e-05 9.99531171e-01 8.22246354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.58863999999999 meters Centerline goodness : 0.996021 with order 1 Centerline is valid? [True, True] Translation: X:51.37, Y:0.91, Z:0.84 [[ 9.95326157e-01 -9.16340727e-02 -3.04801091e-02 5.13696997e+01] [ 9.15882662e-02 9.95792743e-01 -2.89853279e-03 9.07228158e-01] [ 3.06174759e-02 9.33651522e-05 9.99531171e-01 8.44193463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64863999999999 meters Centerline goodness : 0.969486 with order 1 Centerline is valid? [True, True] Translation: X:51.42, Y:0.95, Z:0.83 [[ 9.99448387e-01 -1.31879774e-02 -3.04794773e-02 5.14247427e+01] [ 1.31054705e-02 9.99909899e-01 -2.90516150e-03 9.54004267e-01] [ 3.05150443e-02 2.50411109e-03 9.99531171e-01 8.30097456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.70863999999999 meters Centerline goodness : 0.997294 with order 1 Centerline is valid? [True, True] Translation: X:51.49, Y:0.93, Z:0.85 [[ 9.94778345e-01 -9.74018736e-02 -3.04781723e-02 5.14859649e+01] [ 9.73581517e-02 9.95245131e-01 -2.91878866e-03 9.28326339e-01] [ 3.06175481e-02 -6.37507740e-05 9.99531171e-01 8.49861313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76863999999999 meters Centerline goodness : 0.996018 with order 1 Centerline is valid? [True, True] Translation: X:51.54, Y:0.94, Z:0.85 [[ 9.94395836e-01 -1.01232535e-01 -3.04777899e-02 5.15444419e+01] [ 1.01190489e-01 9.94862776e-01 -2.92277616e-03 9.35227127e-01] [ 3.06170987e-02 -1.77666013e-04 9.99531171e-01 8.51194764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82863999999999 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:51.60, Y:0.95, Z:0.83 [[ 9.94700947e-01 -9.81893787e-02 -3.04774108e-02 5.16028979e+01] [ 9.81457833e-02 9.95167744e-01 -2.92672345e-03 9.45147820e-01] [ 3.06175094e-02 -8.00147725e-05 9.99531171e-01 8.33067171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88863999999999 meters Centerline goodness : 0.994832 with order 1 Centerline is valid? [True, True] Translation: X:51.66, Y:0.95, Z:0.86 [[ 9.94516643e-01 -1.00038976e-01 -3.04770353e-02 5.16622372e+01] [ 9.99961287e-02 9.94983510e-01 -2.93062908e-03 9.50667966e-01] [ 3.06173247e-02 -1.33026143e-04 9.99531171e-01 8.60071891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.94863999999999 meters Centerline goodness : 0.920039 with order 3 Centerline is valid? [True, False] Translation: X:51.68, Y:0.97, Z:0.86 [[ 9.95768840e-01 -8.23415624e-02 -4.07956440e-02 5.16815883e+01] [ 8.13007870e-02 9.96335963e-01 -2.65486540e-02 9.68979014e-01] [ 4.28322249e-02 2.31196044e-02 9.98814740e-01 8.61729194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00863999999999 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [False, True] Translation: X:51.72, Y:0.98, Z:0.87 [[ 9.96367034e-01 -6.72360504e-02 -5.22689864e-02 5.17172985e+01] [ 6.50764970e-02 9.96997006e-01 -4.19764143e-02 9.84236172e-01] [ 5.49343512e-02 3.84224329e-02 9.97750437e-01 8.66741651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06863999999999 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:51.78, Y:0.95, Z:0.86 [[ 9.96502828e-01 -6.30597222e-02 -5.48232134e-02 5.17780570e+01] [ 6.29575927e-02 9.98009747e-01 -3.58968721e-03 9.51609960e-01] [ 5.49404660e-02 1.25595915e-04 9.98489624e-01 8.63558106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12863999999999 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:51.84, Y:0.96, Z:0.87 [[ 9.96743402e-01 -5.91372093e-02 -5.48213641e-02 5.18361356e+01] [ 5.90276085e-02 9.98249795e-01 -3.61771067e-03 9.56891884e-01] [ 5.49393568e-02 3.69955219e-04 9.98489624e-01 8.65880054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18863999999999 meters Centerline goodness : 0.914960 with order 3 Centerline is valid? [True, False] Translation: X:51.85, Y:0.99, Z:0.87 [[ 9.96511625e-01 -4.87501299e-02 -6.77348276e-02 5.18549046e+01] [ 4.62931794e-02 9.98228195e-01 -3.73819903e-02 9.86606568e-01] [ 6.94371916e-02 3.41159274e-02 9.97002798e-01 8.74841558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24863999999999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [False, True] Translation: X:51.86, Y:1.01, Z:0.89 [[ 9.96822001e-01 -3.61453981e-02 -7.09887959e-02 5.18629864e+01] [ 3.15575110e-02 9.97404388e-01 -6.47194721e-02 1.01187676e+00] [ 7.31438476e-02 6.22735640e-02 9.95375296e-01 8.85279375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30863999999999 meters Centerline goodness : 0.995329 with order 1 Centerline is valid? [True, True] Translation: X:51.92, Y:0.96, Z:0.90 [[ 9.96500462e-01 -3.93411291e-02 -7.37502839e-02 5.19236954e+01] [ 3.92164124e-02 9.99225810e-01 -3.13895186e-03 9.61760721e-01] [ 7.38166771e-02 2.35745429e-04 9.97271800e-01 9.02774655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36863999999999 meters Centerline goodness : 0.996465 with order 1 Centerline is valid? [True, True] Translation: X:51.98, Y:0.97, Z:0.91 [[ 9.96578353e-01 -3.73163673e-02 -7.37500809e-02 5.19831369e+01] [ 3.71857609e-02 9.99303426e-01 -3.14371550e-03 9.67901089e-01] [ 7.38160205e-02 3.90505946e-04 9.97271800e-01 9.05023689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.428639999999994 meters Centerline goodness : 0.994647 with order 1 Centerline is valid? [True, True] Translation: X:52.04, Y:0.98, Z:0.91 [[ 9.96589006e-01 -3.70311750e-02 -7.37498793e-02 5.20418742e+01] [ 3.68994395e-02 9.99314024e-01 -3.14843626e-03 9.76519726e-01] [ 7.38158790e-02 4.16367752e-04 9.97271800e-01 9.13867712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48863999999999 meters Centerline goodness : 0.983331 with order 1 Centerline is valid? [True, True] Translation: X:52.10, Y:1.02, Z:0.90 [[ 9.96748194e-01 3.24657123e-02 -7.37496780e-02 5.21010952e+01] [-3.27872570e-02 9.99457380e-01 -3.15314552e-03 1.02165366e+00] [ 7.36072908e-02 5.56094175e-03 9.97271800e-01 8.99810592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54863999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:52.16, Y:1.01, Z:0.90 [[ 9.97053728e-01 -2.10921249e-02 -7.37494774e-02 5.21622569e+01] [ 2.09161417e-02 9.99776247e-01 -3.15783111e-03 1.00950620e+00] [ 7.37995810e-02 1.60597276e-03 9.97271800e-01 8.96481395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.608639999999994 meters Centerline goodness : 0.976037 with order 1 Centerline is valid? [True, True] Translation: X:52.22, Y:0.99, Z:0.90 [[ 9.92625117e-01 -9.62102201e-02 -7.37493770e-02 5.22227905e+01] [ 9.62398431e-02 9.95353156e-01 -3.16017253e-03 9.87300031e-01] [ 7.37107161e-02 -3.96076184e-03 9.97271800e-01 8.99037728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.66863999999999 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:52.28, Y:1.04, Z:0.90 [[ 9.97024768e-01 -2.24203372e-02 -7.37491730e-02 5.22806184e+01] [ 2.22474563e-02 9.99747485e-01 -3.16492716e-03 1.03720689e+00] [ 7.38015090e-02 1.51477926e-03 9.97271800e-01 9.04448974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72863999999999 meters Centerline goodness : 0.990568 with order 1 Centerline is valid? [True, True] Translation: X:52.34, Y:1.05, Z:0.94 [[ 9.96962823e-01 -2.50240841e-02 -7.37490718e-02 5.23378186e+01] [ 2.48581401e-02 9.99685971e-01 -3.16728418e-03 1.05065654e+00] [ 7.38051708e-02 1.32439982e-03 9.97271800e-01 9.43004729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.788639999999994 meters Centerline goodness : 0.995923 with order 1 Centerline is valid? [True, True] Translation: X:52.40, Y:1.06, Z:0.94 [[ 9.96826667e-01 -2.99612268e-02 -7.37490450e-02 5.23979171e+01] [ 2.98087252e-02 9.99550601e-01 -3.16790639e-03 1.06472660e+00] [ 7.38108167e-02 9.59488555e-04 9.97271800e-01 9.40911123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.84863999999999 meters Centerline goodness : 0.996119 with order 1 Centerline is valid? [True, True] Translation: X:52.45, Y:1.08, Z:0.94 [[ 9.96841940e-01 -2.94489281e-02 -7.37489445e-02 5.24549673e+01] [ 2.92948537e-02 9.99565786e-01 -3.17024431e-03 1.07953572e+00] [ 7.38102820e-02 9.99767948e-04 9.97271800e-01 9.42284898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90863999999999 meters Centerline goodness : 0.996620 with order 1 Centerline is valid? [True, True] Translation: X:52.51, Y:1.09, Z:0.94 [[ 9.96679407e-01 -3.45180271e-02 -7.37473133e-02 5.25140541e+01] [ 3.43750321e-02 9.99403856e-01 -3.20774754e-03 1.08682073e+00] [ 7.38140744e-02 6.62029651e-04 9.97271801e-01 9.41352435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96863999999999 meters Centerline goodness : 0.997644 with order 1 Centerline is valid? [True, True] Translation: X:52.57, Y:1.09, Z:0.92 [[ 9.96502859e-01 -3.92867242e-02 -7.37468982e-02 5.25746370e+01] [ 3.91560630e-02 9.99227928e-01 -3.21726369e-03 1.09269142e+00] [ 7.38163560e-02 3.18374276e-04 9.97271801e-01 9.22844566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.02863999999999 meters Centerline goodness : 0.995681 with order 1 Centerline is valid? [True, True] Translation: X:52.63, Y:1.10, Z:0.95 [[ 9.96024529e-01 -4.99672923e-02 -7.37455535e-02 5.26326533e+01] [ 4.98635917e-02 9.98750757e-01 -3.24779632e-03 1.09684007e+00] [ 7.38157110e-02 -4.42333376e-04 9.97271801e-01 9.48191911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08863999999999 meters Centerline goodness : 0.997843 with order 1 Centerline is valid? [True, True] Translation: X:52.69, Y:1.10, Z:0.93 [[ 9.95881478e-01 -5.27418775e-02 -7.37453469e-02 5.26929639e+01] [ 5.26454252e-02 9.98607971e-01 -3.25248250e-03 1.10039173e+00] [ 7.38142333e-02 -6.43268059e-04 9.97271801e-01 9.34600835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.14863999999999 meters Centerline goodness : 0.997302 with order 1 Centerline is valid? [True, True] Translation: X:52.75, Y:1.10, Z:0.94 [[ 9.95813483e-01 -5.40123073e-02 -7.37439970e-02 5.27508049e+01] [ 5.39170880e-02 9.98540020e-01 -3.28280510e-03 1.10365710e+00] [ 7.38136441e-02 -7.06999994e-04 9.97271802e-01 9.40086037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.20863999999999 meters Centerline goodness : 0.995046 with order 1 Centerline is valid? [True, True] Translation: X:52.81, Y:1.11, Z:0.97 [[ 9.95643051e-01 -5.70699420e-02 -7.37423698e-02 5.28080251e+01] [ 5.69804182e-02 9.98369779e-01 -3.31896051e-03 1.10640471e+00] [ 7.38115664e-02 -8.97371098e-04 9.97271802e-01 9.66505458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26863999999999 meters Centerline goodness : 0.997841 with order 1 Centerline is valid? [True, True] Translation: X:52.87, Y:1.11, Z:0.95 [[ 9.95761197e-01 -5.49711159e-02 -7.37415412e-02 5.28680725e+01] [ 5.48744888e-02 9.98487683e-01 -3.33727072e-03 1.10927461e+00] [ 7.38134741e-02 -7.23404682e-04 9.97271802e-01 9.48762765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32863999999999 meters Centerline goodness : 0.994014 with order 1 Centerline is valid? [True, True] Translation: X:52.92, Y:1.11, Z:0.98 [[ 9.95582343e-01 -5.81223241e-02 -7.37400450e-02 5.29249488e+01] [ 5.80319021e-02 9.98309041e-01 -3.37000930e-03 1.11229983e+00] [ 7.38112264e-02 -9.24153318e-04 9.97271803e-01 9.75817665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38863999999999 meters Centerline goodness : 0.994255 with order 1 Centerline is valid? [True, True] Translation: X:52.98, Y:1.11, Z:0.98 [[ 9.95721686e-01 -5.56861982e-02 -7.37385380e-02 5.29838022e+01] [ 5.55866864e-02 9.98448067e-01 -3.40266830e-03 1.11402522e+00] [ 7.38135824e-02 -7.10770381e-04 9.97271803e-01 9.80279832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44863999999999 meters Centerline goodness : 0.994458 with order 1 Centerline is valid? [True, True] Translation: X:53.04, Y:1.12, Z:0.99 [[ 9.96111475e-01 -4.82160209e-02 -7.37370022e-02 5.30422714e+01] [ 4.80936221e-02 9.98836924e-01 -3.43563129e-03 1.12134783e+00] [ 7.38168929e-02 -1.24007771e-04 9.97271804e-01 9.85237576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50863999999999 meters Centerline goodness : 0.993291 with order 1 Centerline is valid? [True, True] Translation: X:53.10, Y:1.13, Z:0.99 [[ 9.96369076e-01 -4.25646275e-02 -7.37354574e-02 5.31003418e+01] [ 4.24243396e-02 9.99093662e-01 -3.46847342e-03 1.12547681e+00] [ 7.38162624e-02 3.27701565e-04 9.97271804e-01 9.91212935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56863999999999 meters Centerline goodness : 0.995927 with order 1 Centerline is valid? [True, True] Translation: X:53.16, Y:1.13, Z:0.98 [[ 9.96709456e-01 -3.36685830e-02 -7.37338986e-02 5.31602130e+01] [ 3.35015509e-02 9.99432532e-01 -3.50130170e-03 1.13419784e+00] [ 7.38099408e-02 1.01958055e-03 9.97271805e-01 9.77687633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62863999999999 meters Centerline goodness : 0.996180 with order 1 Centerline is valid? [True, True] Translation: X:53.22, Y:1.14, Z:0.98 [[ 9.96767425e-01 -3.19099019e-02 -7.37323454e-02 5.32178016e+01] [ 3.17356686e-02 9.99490050e-01 -3.53371068e-03 1.14233005e+00] [ 7.38075059e-02 1.18234242e-03 9.97271806e-01 9.81346532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68863999999999 meters Centerline goodness : 0.996570 with order 1 Centerline is valid? [True, True] Translation: X:53.28, Y:1.15, Z:0.99 [[ 9.96845533e-01 -2.93732993e-02 -7.37305433e-02 5.32755459e+01] [ 2.91893872e-02 9.99567521e-01 -3.57091861e-03 1.15479549e+00] [ 7.38035461e-02 1.40750489e-03 9.97271806e-01 9.86118583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74863999999999 meters Centerline goodness : 0.991911 with order 1 Centerline is valid? [True, True] Translation: X:53.33, Y:1.17, Z:1.01 [[ 9.96759487e-01 -3.21646851e-02 -7.37289538e-02 5.33318759e+01] [ 3.19859910e-02 9.99481822e-01 -3.60344250e-03 1.16813294e+00] [ 7.38066526e-02 1.23347184e-03 9.97271807e-01 1.01106634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80863999999999 meters Centerline goodness : 0.996330 with order 1 Centerline is valid? [True, True] Translation: X:53.39, Y:1.19, Z:1.00 [[ 9.96806980e-01 -3.06586494e-02 -7.37284961e-02 5.33913335e+01] [ 3.04751517e-02 9.99528996e-01 -3.61278384e-03 1.18572216e+00] [ 7.38045327e-02 1.35436104e-03 9.97271807e-01 9.96634868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86863999999999 meters Centerline goodness : 0.996332 with order 1 Centerline is valid? [True, True] Translation: X:53.45, Y:1.20, Z:1.00 [[ 9.96776277e-01 -3.16449736e-02 -7.37268597e-02 5.34493691e+01] [ 3.14617225e-02 9.99498308e-01 -3.64587605e-03 1.19845590e+00] [ 7.38052451e-02 1.31454875e-03 9.97271807e-01 9.99971144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92863999999999 meters Centerline goodness : 0.996583 with order 1 Centerline is valid? [True, True] Translation: X:53.51, Y:1.21, Z:1.00 [[ 9.96619332e-01 -3.62560165e-02 -7.37252258e-02 5.35076238e+01] [ 3.60829383e-02 9.99342028e-01 -3.67862112e-03 1.21473920e+00] [ 7.38100889e-02 1.00596215e-03 9.97271808e-01 1.00343502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98863999999999 meters Centerline goodness : 0.993397 with order 1 Centerline is valid? [True, True] Translation: X:53.57, Y:1.22, Z:1.02 [[ 9.96459880e-01 -4.04044701e-02 -7.37237180e-02 5.35655088e+01] [ 4.02405100e-02 9.99183140e-01 -3.70859651e-03 1.22324389e+00] [ 7.38133399e-02 7.28787617e-04 9.97271808e-01 1.02258834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04863999999999 meters Centerline goodness : 0.995443 with order 1 Centerline is valid? [True, True] Translation: X:53.62, Y:1.23, Z:1.03 [[ 9.95898367e-01 -5.24527528e-02 -7.37234851e-02 5.36234194e+01] [ 5.23213976e-02 9.98623394e-01 -3.71322104e-03 1.22983176e+00] [ 7.38167656e-02 -1.59325014e-04 9.97271808e-01 1.02557316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.108639999999994 meters Centerline goodness : 0.995500 with order 1 Centerline is valid? [True, True] Translation: X:53.68, Y:1.23, Z:1.03 [[ 9.95613682e-01 -5.76066635e-02 -7.37215568e-02 5.36815439e+01] [ 5.74866083e-02 9.98339230e-01 -3.75111971e-03 1.23108070e+00] [ 7.38152117e-02 -5.03336144e-04 9.97271809e-01 1.02994148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.16863999999999 meters Centerline goodness : 0.997898 with order 1 Centerline is valid? [True, True] Translation: X:53.74, Y:1.23, Z:1.03 [[ 9.95753291e-01 -5.51430877e-02 -7.37198918e-02 5.37394410e+01] [ 5.50138873e-02 9.98478421e-01 -3.78356172e-03 1.23050788e+00] [ 7.38163584e-02 -2.88123777e-04 9.97271810e-01 1.03353762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22863999999999 meters Centerline goodness : 0.997693 with order 1 Centerline is valid? [True, True] Translation: X:53.80, Y:1.23, Z:1.04 [[ 9.95895623e-01 -5.25125428e-02 -7.37179822e-02 5.37974198e+01] [ 5.23734167e-02 9.98620263e-01 -3.82040913e-03 1.23028772e+00] [ 7.38168902e-02 -5.61338779e-05 9.97271810e-01 1.03762193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.288639999999994 meters Centerline goodness : 0.996670 with order 1 Centerline is valid? [True, True] Translation: X:53.86, Y:1.23, Z:1.04 [[ 9.95930047e-01 -5.18583089e-02 -7.37160626e-02 5.38558196e+01] [ 5.17146774e-02 9.98654452e-01 -3.85709689e-03 1.23443281e+00] [ 7.38168967e-02 2.91962882e-05 9.97271811e-01 1.04240014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.34863999999999 meters Centerline goodness : 0.994330 with order 1 Centerline is valid? [True, True] Translation: X:53.91, Y:1.24, Z:1.05 [[ 9.95544739e-01 -5.87950958e-02 -7.37143768e-02 5.39134333e+01] [ 5.86680810e-02 9.98269969e-01 -3.88905198e-03 1.23804651e+00] [ 7.38155058e-02 -4.52955793e-04 9.97271811e-01 1.05289870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40863999999999 meters Centerline goodness : 0.996334 with order 1 Centerline is valid? [True, True] Translation: X:53.97, Y:1.25, Z:1.05 [[ 9.95476811e-01 -5.99363694e-02 -7.37126192e-02 5.39715893e+01] [ 5.98100331e-02 9.98202072e-01 -3.92208443e-03 1.24584316e+00] [ 7.38151648e-02 -5.04410097e-04 9.97271812e-01 1.05253039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46863999999999 meters Centerline goodness : 0.994576 with order 1 Centerline is valid? [True, True] Translation: X:54.03, Y:1.25, Z:1.06 [[ 9.94867382e-01 -6.93212012e-02 -7.37120236e-02 5.40301455e+01] [ 6.92197433e-02 9.97593683e-01 -3.93324620e-03 1.24819080e+00] [ 7.38073065e-02 -1.18926900e-03 9.97271812e-01 1.05961405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.52863999999999 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:54.09, Y:1.25, Z:1.04 [[ 9.94465687e-01 -7.48651217e-02 -7.37103136e-02 5.40912233e+01] [ 7.47765055e-02 9.97192435e-01 -3.96503712e-03 1.25152599e+00] [ 7.38002101e-02 -1.56870630e-03 9.97271813e-01 1.04136936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58863999999999 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:54.15, Y:1.25, Z:1.04 [[ 9.93792033e-01 -8.33319899e-02 -7.37100748e-02 5.41501749e+01] [ 8.32662713e-02 9.96519428e-01 -3.96947013e-03 1.24623357e+00] [ 7.37843055e-02 -2.19273530e-03 9.97271813e-01 1.04277650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.64863999999999 meters Centerline goodness : 0.994706 with order 1 Centerline is valid? [True, True] Translation: X:54.21, Y:1.24, Z:1.07 [[ 9.92707580e-01 -9.53872457e-02 -7.37084443e-02 5.42085662e+01] [ 9.53524062e-02 9.95435544e-01 -3.99952024e-03 1.24272126e+00] [ 7.37535086e-02 -3.05792346e-03 9.97271813e-01 1.07016665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.70863999999999 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:54.27, Y:1.24, Z:1.05 [[ 9.92736948e-01 -9.50812022e-02 -7.37083257e-02 5.42695428e+01] [ 9.50453597e-02 9.95464899e-01 -4.00170544e-03 1.23990381e+00] [ 7.37545380e-02 -3.03299349e-03 9.97271813e-01 1.05133133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76863999999999 meters Centerline goodness : 0.994572 with order 1 Centerline is valid? [True, True] Translation: X:54.33, Y:1.23, Z:1.08 [[ 9.91774323e-01 -1.04646117e-01 -7.37080907e-02 5.43284045e+01] [ 1.04636252e-01 9.94502492e-01 -4.00602935e-03 1.23482885e+00] [ 7.37220953e-02 -3.73946127e-03 9.97271813e-01 1.07805396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82863999999999 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:54.39, Y:1.23, Z:1.06 [[ 9.92021984e-01 -1.02271778e-01 -7.37079771e-02 5.43905929e+01] [ 1.02255227e-01 9.94750121e-01 -4.00811869e-03 1.23019773e+00] [ 7.37309365e-02 -3.56088408e-03 9.97271813e-01 1.05889566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88863999999999 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:54.45, Y:1.22, Z:1.06 [[ 9.91587730e-01 -1.06399815e-01 -7.37078943e-02 5.44497952e+01] [ 1.06394506e-01 9.94315911e-01 -4.00964085e-03 1.22225842e+00] [ 7.37155571e-02 -3.86620435e-03 9.97271813e-01 1.06432456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94863999999999 meters Centerline goodness : 0.996521 with order 1 Centerline is valid? [True, True] Translation: X:54.51, Y:1.21, Z:1.09 [[ 9.90961165e-01 -1.12086322e-01 -7.37063449e-02 5.45093217e+01] [ 1.12094567e-01 9.93689339e-01 -4.03792274e-03 1.20674557e+00] [ 7.36938051e-02 -4.26065617e-03 9.97271813e-01 1.09012087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.00863999999999 meters Centerline goodness : 0.996406 with order 1 Centerline is valid? [True, True] Translation: X:54.57, Y:1.20, Z:1.09 [[ 9.91116625e-01 -1.10703329e-01 -7.37062338e-02 5.45681863e+01] [ 1.10707616e-01 9.93844808e-01 -4.03995040e-03 1.19799015e+00] [ 7.36997937e-02 -4.15577945e-03 9.97271813e-01 1.09438811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06863999999999 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:54.63, Y:1.18, Z:1.08 [[ 9.91929247e-01 -1.03169740e-01 -7.37046410e-02 5.46305656e+01] [ 1.03151160e-01 9.94657370e-01 -4.06880381e-03 1.18398796e+00] [ 7.37306417e-02 -3.56675370e-03 9.97271814e-01 1.07880538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12863999999999 meters Centerline goodness : 0.997333 with order 1 Centerline is valid? [True, True] Translation: X:54.69, Y:1.17, Z:1.10 [[ 9.93007353e-01 -9.22174840e-02 -7.37043560e-02 5.46895779e+01] [ 9.21684181e-02 9.95735098e-01 -4.07395911e-03 1.17313938e+00] [ 7.37657044e-02 -2.74774254e-03 9.97271814e-01 1.10140499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18863999999999 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:54.75, Y:1.17, Z:1.09 [[ 9.93479060e-01 -8.69886476e-02 -7.37043560e-02 5.47510750e+01] [ 8.69252225e-02 9.96206509e-01 -4.07395911e-03 1.17214701e+00] [ 7.37791474e-02 -2.35937447e-03 9.97271814e-01 1.08813207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24863999999999 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:54.81, Y:1.16, Z:1.09 [[ 9.94309650e-01 -7.69155756e-02 -7.37042343e-02 5.48096055e+01] [ 7.68243489e-02 9.97036310e-01 -4.07615933e-03 1.16384262e+00] [ 7.37993180e-02 -1.60931525e-03 9.97271814e-01 1.09394266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30863999999999 meters Centerline goodness : 0.995971 with order 1 Centerline is valid? [True, True] Translation: X:54.87, Y:1.16, Z:1.12 [[ 9.94664385e-01 -7.21851592e-02 -7.37025369e-02 5.48674954e+01] [ 7.20787072e-02 9.97390493e-01 -4.10662377e-03 1.15952936e+00] [ 7.38066469e-02 -1.22767117e-03 9.97271814e-01 1.11649215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36863999999999 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:54.93, Y:1.16, Z:1.10 [[ 9.95215980e-01 -6.41338057e-02 -7.37021594e-02 5.49287243e+01] [ 6.40047961e-02 9.97941114e-01 -4.11338796e-03 1.15993542e+00] [ 7.38142222e-02 -6.23582257e-04 9.97271814e-01 1.10333878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42863999999999 meters Centerline goodness : 0.997302 with order 1 Centerline is valid? [True, True] Translation: X:54.99, Y:1.16, Z:1.11 [[ 9.95610384e-01 -5.76885947e-02 -7.37020308e-02 5.49861149e+01] [ 5.75417726e-02 9.98334616e-01 -4.11569127e-03 1.16032310e+00] [ 7.38167170e-02 -1.43320529e-04 9.97271814e-01 1.10757001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48863999999999 meters Centerline goodness : 0.991856 with order 1 Centerline is valid? [True, True] Translation: X:55.04, Y:1.17, Z:1.13 [[ 9.95924724e-01 -5.19833056e-02 -7.36999319e-02 5.50434074e+01] [ 5.18181209e-02 9.98647904e-01 -4.15294053e-03 1.16526051e+00] [ 7.38161660e-02 3.17024173e-04 9.97271815e-01 1.13407484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54863999999999 meters Centerline goodness : 0.996025 with order 1 Centerline is valid? [True, True] Translation: X:55.10, Y:1.17, Z:1.12 [[ 9.96295208e-01 -4.43197076e-02 -7.36995425e-02 5.51033234e+01] [ 4.41330670e-02 9.99017001e-01 -4.15983806e-03 1.17192945e+00] [ 7.38114588e-02 8.91839875e-04 9.97271815e-01 1.11790987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60863999999999 meters Centerline goodness : 0.995833 with order 1 Centerline is valid? [True, True] Translation: X:55.16, Y:1.18, Z:1.12 [[ 9.96363386e-01 -4.27627631e-02 -7.36976842e-02 5.51619848e+01] [ 4.25694536e-02 9.99084713e-01 -4.19250500e-03 1.17824126e+00] [ 7.38095128e-02 1.03998833e-03 9.97271816e-01 1.12341855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.66863999999999 meters Centerline goodness : 0.991600 with order 1 Centerline is valid? [True, True] Translation: X:55.22, Y:1.19, Z:1.15 [[ 9.96334818e-01 -4.34264958e-02 -7.36957992e-02 5.52183763e+01] [ 4.32325678e-02 9.99056100e-01 -4.22538281e-03 1.18801502e+00] [ 7.38097313e-02 1.02383737e-03 9.97271816e-01 1.14509194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72863999999999 meters Centerline goodness : 0.996015 with order 1 Centerline is valid? [True, True] Translation: X:55.28, Y:1.20, Z:1.13 [[ 9.96461970e-01 -4.04050823e-02 -7.36951261e-02 5.52777482e+01] [ 4.02020378e-02 9.99182588e-01 -4.23709065e-03 1.19798649e+00] [ 7.38060867e-02 1.25940546e-03 9.97271816e-01 1.13088399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.788639999999994 meters Centerline goodness : 0.992504 with order 1 Centerline is valid? [True, True] Translation: X:55.33, Y:1.21, Z:1.15 [[ 9.96447454e-01 -4.07624775e-02 -7.36945893e-02 5.53349545e+01] [ 4.05597201e-02 9.99168093e-01 -4.24640547e-03 1.21014792e+00] [ 7.38063763e-02 1.24228800e-03 9.97271816e-01 1.15194341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.84863999999999 meters Centerline goodness : 0.996573 with order 1 Centerline is valid? [True, True] Translation: X:55.40, Y:1.22, Z:1.14 [[ 9.96196928e-01 -4.64849290e-02 -7.36941848e-02 5.53953834e+01] [ 4.62972826e-02 9.98918650e-01 -4.25341397e-03 1.22085412e+00] [ 7.38122153e-02 8.25397425e-04 9.97271816e-01 1.13683034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90863999999999 meters Centerline goodness : 0.996667 with order 1 Centerline is valid? [True, True] Translation: X:55.45, Y:1.23, Z:1.14 [[ 9.95840029e-01 -5.35895866e-02 -7.36939114e-02 5.54523968e+01] [ 5.34210087e-02 9.98563000e-01 -4.25814624e-03 1.22776609e+00] [ 7.38162055e-02 3.03629390e-04 9.97271816e-01 1.14095948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96863999999999 meters Centerline goodness : 0.996961 with order 1 Centerline is valid? [True, True] Translation: X:55.51, Y:1.23, Z:1.15 [[ 9.95739465e-01 -5.54296487e-02 -7.36917405e-02 5.55100396e+01] [ 5.52633463e-02 9.98462574e-01 -4.29539136e-03 1.23345881e+00] [ 7.38165369e-02 2.04638524e-04 9.97271817e-01 1.14632556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.02863999999999 meters Centerline goodness : 0.997113 with order 1 Centerline is valid? [True, True] Translation: X:55.57, Y:1.24, Z:1.15 [[ 9.95844391e-01 -5.35144508e-02 -7.36895741e-02 5.55681441e+01] [ 5.33401847e-02 9.98567001e-01 -4.33224060e-03 1.24410960e+00] [ 7.38158146e-02 3.83622011e-04 9.97271818e-01 1.15095815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08863999999999 meters Centerline goodness : 0.996916 with order 1 Centerline is valid? [True, True] Translation: X:55.63, Y:1.25, Z:1.15 [[ 9.95740746e-01 -5.54120590e-02 -7.36876534e-02 5.56264083e+01] [ 5.52405817e-02 9.98463534e-01 -4.36466842e-03 1.24763808e+00] [ 7.38162901e-02 2.75529354e-04 9.97271818e-01 1.15315463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14863999999999 meters Centerline goodness : 0.993187 with order 1 Centerline is valid? [True, True] Translation: X:55.68, Y:1.25, Z:1.18 [[ 9.95448052e-01 -6.04449166e-02 -7.36857377e-02 5.56843205e+01] [ 6.02848288e-02 9.98171532e-01 -4.39677511e-03 1.25192450e+00] [ 7.38167684e-02 -6.53708608e-05 9.97271819e-01 1.18075094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.20863999999999 meters Centerline goodness : 0.996621 with order 1 Centerline is valid? [True, True] Translation: X:55.74, Y:1.26, Z:1.16 [[ 9.95528950e-01 -5.90979056e-02 -7.36854633e-02 5.57446724e+01] [ 5.89337928e-02 9.98252191e-01 -4.40136853e-03 1.25619291e+00] [ 7.38167868e-02 3.91259644e-05 9.97271819e-01 1.16278428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26863999999999 meters Centerline goodness : 0.997060 with order 1 Centerline is valid? [True, True] Translation: X:55.80, Y:1.26, Z:1.17 [[ 9.95566005e-01 -5.84728497e-02 -7.36834851e-02 5.58019936e+01] [ 5.83045941e-02 9.98288992e-01 -4.43424084e-03 1.26320161e+00] [ 7.38166948e-02 1.18493748e-04 9.97271819e-01 1.16759603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32863999999999 meters Centerline goodness : 0.992671 with order 1 Centerline is valid? [True, True] Translation: X:55.86, Y:1.27, Z:1.19 [[ 9.95436554e-01 -6.06394219e-02 -7.36812620e-02 5.58581603e+01] [ 6.04743809e-02 9.98159737e-01 -4.47087954e-03 1.27057191e+00] [ 7.38167806e-02 -5.35178610e-06 9.97271820e-01 1.19315320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38863999999999 meters Centerline goodness : 0.992994 with order 1 Centerline is valid? [True, True] Translation: X:55.92, Y:1.28, Z:1.20 [[ 9.95373233e-01 -6.16724181e-02 -7.36792984e-02 5.59157838e+01] [ 6.15078250e-02 9.98096443e-01 -4.50300862e-03 1.27929051e+00] [ 7.38167571e-02 -4.96791433e-05 9.97271820e-01 1.19917995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44863999999999 meters Centerline goodness : 0.993591 with order 1 Centerline is valid? [True, True] Translation: X:55.97, Y:1.29, Z:1.21 [[ 9.95017784e-01 -6.71659396e-02 -7.36773065e-02 5.59731586e+01] [ 6.70139851e-02 9.97741728e-01 -4.53536720e-03 1.28687216e+00] [ 7.38155453e-02 -4.24638898e-04 9.97271821e-01 1.20620961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50863999999999 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:56.03, Y:1.29, Z:1.18 [[ 9.94727821e-01 -7.13341622e-02 -7.36749556e-02 5.60336354e+01] [ 7.11908166e-02 9.97452231e-01 -4.57324192e-03 1.29110865e+00] [ 7.38134772e-02 -6.95849274e-04 9.97271822e-01 1.18165991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56863999999999 meters Centerline goodness : 0.997600 with order 1 Centerline is valid? [True, True] Translation: X:56.09, Y:1.29, Z:1.21 [[ 9.93808190e-01 -8.31719756e-02 -7.36729474e-02 5.60899548e+01] [ 8.30586954e-02 9.96534015e-01 -4.60536823e-03 1.29098872e+00] [ 7.38006356e-02 -1.54232622e-03 9.97271822e-01 1.21271687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:56.15, Y:1.29, Z:1.19 [[ 9.93572736e-01 -8.59407109e-02 -7.36709800e-02 5.61509157e+01] [ 8.58327094e-02 9.96298774e-01 -4.63662857e-03 1.28957478e+00] [ 7.37967822e-02 -1.71655208e-03 9.97271823e-01 1.19122921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68863999999999 meters Centerline goodness : 0.996418 with order 1 Centerline is valid? [True, True] Translation: X:56.21, Y:1.28, Z:1.22 [[ 9.92975420e-01 -9.25888290e-02 -7.36690191e-02 5.62080442e+01] [ 9.24967814e-02 9.95702043e-01 -4.66757801e-03 1.28245567e+00] [ 7.37845584e-02 -2.17935692e-03 9.97271823e-01 1.22498134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74863999999999 meters Centerline goodness : 0.998236 with order 1 Centerline is valid? [True, True] Translation: X:56.27, Y:1.28, Z:1.22 [[ 9.93503951e-01 -8.67344052e-02 -7.36684617e-02 5.62676855e+01] [ 8.66256371e-02 9.96229959e-01 -4.67635918e-03 1.28031293e+00] [ 7.37963298e-02 -1.73559611e-03 9.97271823e-01 1.22155166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.33, Y:1.28, Z:1.21 [[ 9.94271910e-01 -7.74363599e-02 -7.36680391e-02 5.63278403e+01] [ 7.73016023e-02 9.96996756e-01 -4.68300585e-03 1.27507861e+00] [ 7.38094310e-02 -1.03847629e-03 9.97271823e-01 1.20537704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:56.39, Y:1.28, Z:1.21 [[ 9.94462525e-01 -7.49506667e-02 -7.36660271e-02 5.63865716e+01] [ 7.48067694e-02 9.97186904e-01 -4.71444531e-03 1.27613687e+00] [ 7.38121483e-02 -8.22378312e-04 9.97271824e-01 1.21118323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92863999999999 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:56.44, Y:1.27, Z:1.23 [[ 9.94525014e-01 -7.41188996e-02 -7.36640072e-02 5.64436313e+01] [ 7.39704016e-02 9.97249145e-01 -4.74579905e-03 1.27486054e+00] [ 7.38131216e-02 -7.29140338e-04 9.97271824e-01 1.23393724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98863999999999 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:56.50, Y:1.28, Z:1.24 [[ 9.94510342e-01 -7.43162243e-02 -7.36632756e-02 5.65015817e+01] [ 7.41674278e-02 9.97234457e-01 -4.75712836e-03 1.27702577e+00] [ 7.38130884e-02 -7.32402314e-04 9.97271824e-01 1.24012356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:56.56, Y:1.28, Z:1.23 [[ 9.94950635e-01 -6.81708412e-02 -7.36611805e-02 5.65610431e+01] [ 6.80028326e-02 9.97673632e-01 -4.78935190e-03 1.28158972e+00] [ 7.38163116e-02 -2.44000202e-04 9.97271825e-01 1.22608762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.62, Y:1.29, Z:1.23 [[ 9.95347359e-01 -6.21125914e-02 -7.36590880e-02 5.66186817e+01] [ 6.19256432e-02 9.98069121e-01 -4.82132044e-03 1.28725146e+00] [ 7.38163259e-02 2.37502164e-04 9.97271825e-01 1.22938778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.16863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.68, Y:1.29, Z:1.23 [[ 9.95572863e-01 -5.83898036e-02 -7.36566666e-02 5.66761895e+01] [ 5.81899619e-02 9.98293708e-01 -4.85803383e-03 1.29467360e+00] [ 7.38146465e-02 5.50448030e-04 9.97271826e-01 1.23485692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22863999999999 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:56.73, Y:1.30, Z:1.26 [[ 9.95800731e-01 -5.43687619e-02 -7.36542082e-02 5.67338923e+01] [ 5.41551981e-02 9.98520532e-01 -4.89502546e-03 1.30325823e+00] [ 7.38113757e-02 8.85711687e-04 9.97271827e-01 1.25557016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.288639999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:56.79, Y:1.31, Z:1.24 [[ 9.95656269e-01 -5.69534653e-02 -7.36538976e-02 5.67940639e+01] [ 5.67466169e-02 9.98376590e-01 -4.89969452e-03 1.31490721e+00] [ 7.38133817e-02 6.98802056e-04 9.97271827e-01 1.24282250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.34863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:56.85, Y:1.32, Z:1.25 [[ 9.95019726e-01 -6.71631957e-02 -7.36535850e-02 5.68528821e+01] [ 6.69839137e-02 9.97742002e-01 -4.90438975e-03 1.31813915e+00] [ 7.38166698e-02 -5.36408407e-05 9.97271827e-01 1.24713638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40863999999999 meters Centerline goodness : 0.998286 with order 1 Centerline is valid? [True, True] Translation: X:56.91, Y:1.32, Z:1.27 [[ 9.93814943e-01 -8.31103470e-02 -7.36514029e-02 5.69100243e+01] [ 8.29723295e-02 9.96539622e-01 -4.93694466e-03 1.31571540e+00] [ 7.38068524e-02 -1.20461910e-03 9.97271827e-01 1.27480255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:56.97, Y:1.31, Z:1.26 [[ 9.93409863e-01 -8.78215983e-02 -7.36492386e-02 5.69710132e+01] [ 8.76941242e-02 9.96135056e-01 -4.96902286e-03 1.31372531e+00] [ 7.38009759e-02 -1.52232916e-03 9.97271828e-01 1.25564459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.52863999999999 meters Centerline goodness : 0.998283 with order 1 Centerline is valid? [True, True] Translation: X:57.03, Y:1.31, Z:1.28 [[ 9.92921442e-01 -9.31832527e-02 -7.36470750e-02 5.70290441e+01] [ 9.30681306e-02 9.95647184e-01 -5.00088603e-03 1.30735811e+00] [ 7.37925017e-02 -1.88870863e-03 9.97271828e-01 1.28205383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58863999999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:57.09, Y:1.30, Z:1.26 [[ 9.93320659e-01 -8.88270442e-02 -7.36466236e-02 5.70911007e+01] [ 8.86994751e-02 9.96045846e-01 -5.00752608e-03 1.30091256e+00] [ 7.38002172e-02 -1.55833774e-03 9.97271828e-01 1.26279325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64863999999999 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:57.15, Y:1.30, Z:1.29 [[ 9.93575263e-01 -8.59325018e-02 -7.36464713e-02 5.71484630e+01] [ 8.57968273e-02 9.96300059e-01 -5.00976372e-03 1.29860280e+00] [ 7.38044852e-02 -1.34105627e-03 9.97271828e-01 1.29034467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.70863999999999 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:57.21, Y:1.30, Z:1.27 [[ 9.93842783e-01 -8.27815654e-02 -7.36460162e-02 5.72103252e+01] [ 8.26367566e-02 9.96567109e-01 -5.01644489e-03 1.29940348e+00] [ 7.38084666e-02 -1.10031036e-03 9.97271828e-01 1.27220602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76863999999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:57.27, Y:1.30, Z:1.27 [[ 9.93999767e-01 -8.08751797e-02 -7.36455574e-02 5.72691928e+01] [ 8.07246474e-02 9.96723783e-01 -5.02317208e-03 1.29874220e+00] [ 7.38105285e-02 -9.51979776e-04 9.97271828e-01 1.27493604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.33, Y:1.30, Z:1.28 [[ 9.94332553e-01 -7.66773897e-02 -7.36434044e-02 5.73277081e+01] [ 7.65130337e-02 9.97055769e-01 -5.05454107e-03 1.30002084e+00] [ 7.38141503e-02 -6.08785548e-04 9.97271829e-01 1.27957891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:57.39, Y:1.30, Z:1.28 [[ 9.94790019e-01 -7.04967379e-02 -7.36412090e-02 5.73862444e+01] [ 7.03131089e-02 9.97512003e-01 -5.08632687e-03 1.30396965e+00] [ 7.38165594e-02 -1.18115150e-04 9.97271829e-01 1.28361323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:57.44, Y:1.31, Z:1.29 [[ 9.94967722e-01 -6.79450713e-02 -7.36389744e-02 5.74447864e+01] [ 6.77520821e-02 9.97689058e-01 -5.11847681e-03 1.30672869e+00] [ 7.38165743e-02 1.03525374e-04 9.97271830e-01 1.28732032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:57.50, Y:1.31, Z:1.29 [[ 9.94877751e-01 -6.92524371e-02 -7.36366810e-02 5.75035089e+01] [ 6.90605974e-02 9.97599167e-01 -5.15126180e-03 1.31076639e+00] [ 7.38166290e-02 3.94825819e-05 9.97271830e-01 1.29116602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:57.56, Y:1.31, Z:1.29 [[ 9.94578768e-01 -7.34238174e-02 -7.36343512e-02 5.75629515e+01] [ 7.32409416e-02 9.97300801e-01 -5.18435323e-03 1.30703805e+00] [ 7.38162524e-02 -2.36801565e-04 9.97271831e-01 1.29463256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:57.62, Y:1.31, Z:1.30 [[ 9.94370591e-01 -7.61934728e-02 -7.36320683e-02 5.76217445e+01] [ 7.60157926e-02 9.97092968e-01 -5.21657672e-03 1.30665811e+00] [ 7.38154866e-02 -4.09989553e-04 9.97271831e-01 1.29985817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18863999999999 meters Centerline goodness : 0.998379 with order 1 Centerline is valid? [True, True] Translation: X:57.68, Y:1.30, Z:1.33 [[ 9.94153793e-01 -7.89740061e-02 -7.36297584e-02 5.76787647e+01] [ 7.88015401e-02 9.96876505e-01 -5.24897906e-03 1.30019849e+00] [ 7.38143091e-02 -5.83845915e-04 9.97271832e-01 1.32956964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24863999999999 meters Centerline goodness : 0.998574 with order 1 Centerline is valid? [True, True] Translation: X:57.74, Y:1.30, Z:1.33 [[ 9.93754898e-01 -8.38463222e-02 -7.36274164e-02 5.77374553e+01] [ 8.36847863e-02 9.96478279e-01 -5.28162788e-03 1.29679146e+00] [ 7.38109662e-02 -9.12851029e-04 9.97271833e-01 1.33454367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30863999999999 meters Centerline goodness : 0.998325 with order 1 Centerline is valid? [True, True] Translation: X:57.80, Y:1.29, Z:1.33 [[ 9.93551506e-01 -8.62249669e-02 -7.36251275e-02 5.77977956e+01] [ 8.60676009e-02 9.96275131e-01 -5.31334455e-03 1.28854407e+00] [ 7.38090265e-02 -1.05765661e-03 9.97271833e-01 1.33305867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36863999999999 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:57.86, Y:1.28, Z:1.34 [[ 9.93399524e-01 -8.79590869e-02 -7.36246166e-02 5.78570340e+01] [ 8.78059513e-02 9.96123390e-01 -5.32041474e-03 1.28076979e+00] [ 7.38071815e-02 -1.17938203e-03 9.97271833e-01 1.33673519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42863999999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:57.92, Y:1.27, Z:1.32 [[ 9.93692420e-01 -8.45880824e-02 -7.36222098e-02 5.79179411e+01] [ 8.44232540e-02 9.96415603e-01 -5.35351409e-03 1.27251222e+00] [ 7.38111620e-02 -8.95680142e-04 9.97271834e-01 1.31631582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48863999999999 meters Centerline goodness : 0.998325 with order 1 Centerline is valid? [True, True] Translation: X:57.98, Y:1.27, Z:1.35 [[ 9.94079974e-01 -7.99052438e-02 -7.36217144e-02 5.79753295e+01] [ 7.97270827e-02 9.96802317e-01 -5.36031848e-03 1.27333803e+00] [ 7.38146130e-02 -5.41059254e-04 9.97271834e-01 1.34638215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.04, Y:1.27, Z:1.33 [[ 9.94278403e-01 -7.73977245e-02 -7.36209841e-02 5.80359934e+01] [ 7.72119564e-02 9.97000237e-01 -5.37033012e-03 1.27453062e+00] [ 7.38157899e-02 -3.44816956e-04 9.97271834e-01 1.32535122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60863999999999 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:58.09, Y:1.27, Z:1.35 [[ 9.94511348e-01 -7.43453544e-02 -7.36202903e-02 5.80944971e+01] [ 7.41505296e-02 9.97232549e-01 -5.37982348e-03 1.27406919e+00] [ 7.38165146e-02 -1.08688010e-04 9.97271834e-01 1.35000981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.66863999999999 meters Centerline goodness : 0.998278 with order 1 Centerline is valid? [True, True] Translation: X:58.15, Y:1.27, Z:1.36 [[ 9.94291982e-01 -7.72237532e-02 -7.36202903e-02 5.81527548e+01] [ 7.70368060e-02 9.97013735e-01 -5.37982348e-03 1.27118001e+00] [ 7.38158908e-02 -3.22356668e-04 9.97271834e-01 1.35605665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72863999999999 meters Centerline goodness : 0.997293 with order 1 Centerline is valid? [True, True] Translation: X:58.21, Y:1.27, Z:1.36 [[ 9.94072912e-01 -7.99969846e-02 -7.36174479e-02 5.82119978e+01] [ 7.98147704e-02 9.96794985e-01 -5.41844222e-03 1.26922561e+00] [ 7.38149620e-02 -4.89433070e-04 9.97271834e-01 1.36175991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78863999999999 meters Centerline goodness : 0.998425 with order 1 Centerline is valid? [True, True] Translation: X:58.27, Y:1.27, Z:1.36 [[ 9.93954099e-01 -8.14619969e-02 -7.36151558e-02 5.82710633e+01] [ 8.12815016e-02 9.96676287e-01 -5.44940646e-03 1.26790741e+00] [ 7.38143997e-02 -5.67090512e-04 9.97271835e-01 1.36311790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.84863999999999 meters Centerline goodness : 0.997932 with order 1 Centerline is valid? [True, True] Translation: X:58.33, Y:1.27, Z:1.37 [[ 9.94403381e-01 -7.57832030e-02 -7.36126499e-02 5.83289589e+01] [ 7.55846709e-02 9.97124312e-01 -5.48305052e-03 1.27026538e+00] [ 7.38164860e-02 -1.11623939e-04 9.97271836e-01 1.37108929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.39, Y:1.27, Z:1.35 [[ 9.94264885e-01 -7.75818179e-02 -7.36097867e-02 5.83893319e+01] [ 7.73853817e-02 9.96985967e-01 -5.52122332e-03 1.26948439e+00] [ 7.38162710e-02 -2.06762979e-04 9.97271836e-01 1.35372316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96863999999999 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:58.45, Y:1.27, Z:1.38 [[ 9.94175366e-01 -7.87213314e-02 -7.36090554e-02 5.84467352e+01] [ 7.85272936e-02 9.96896621e-01 -5.53095608e-03 1.27127036e+00] [ 7.38160228e-02 -2.81579616e-04 9.97271836e-01 1.37714804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02864 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:58.51, Y:1.27, Z:1.38 [[ 9.93817141e-01 -8.31220483e-02 -7.36085236e-02 5.85054906e+01] [ 8.29395366e-02 9.96539193e-01 -5.53802472e-03 1.26946516e+00] [ 7.38141107e-02 -6.01272935e-04 9.97271836e-01 1.38301066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08863999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:58.57, Y:1.27, Z:1.37 [[ 9.93511026e-01 -8.67063961e-02 -7.36059961e-02 5.85663241e+01] [ 8.65312309e-02 9.96233560e-01 -5.57141657e-03 1.26739455e+00] [ 7.38118410e-02 -8.33953650e-04 9.97271837e-01 1.36743847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14863999999999 meters Centerline goodness : 0.999014 with order 1 Centerline is valid? [True, True] Translation: X:58.62, Y:1.27, Z:1.39 [[ 9.93573914e-01 -8.59847763e-02 -7.36036455e-02 5.86245797e+01] [ 8.58053461e-02 9.96296169e-01 -5.60229985e-03 1.27054697e+00] [ 7.38127426e-02 -7.49287298e-04 9.97271837e-01 1.38844703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20863999999999 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:58.68, Y:1.27, Z:1.40 [[ 9.94051615e-01 -8.02741756e-02 -7.36032863e-02 5.86832024e+01] [ 8.00787569e-02 9.96772770e-01 -5.60701476e-03 1.27425665e+00] [ 7.38158500e-02 -3.20397593e-04 9.97271837e-01 1.39663204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26863999999999 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:58.74, Y:1.28, Z:1.40 [[ 9.94336291e-01 -7.66699552e-02 -7.36006624e-02 5.87409235e+01] [ 7.64621388e-02 9.97056527e-01 -5.64124941e-03 1.28417606e+00] [ 7.38165352e-02 -1.83650499e-05 9.97271838e-01 1.39905295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32864 meters Centerline goodness : 0.868138 with order 3 Centerline is valid? [True, False] Translation: X:58.79, Y:1.31, Z:1.41 [[ 9.93259907e-01 -6.57460189e-02 -9.54579359e-02 5.87934816e+01] [ 6.31232456e-02 9.97547386e-01 -3.02434811e-02 1.31024891e+00] [ 9.72122029e-02 2.40140225e-02 9.94973926e-01 1.40955664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38864 meters Centerline goodness : 0.997197 with order 1 Centerline is valid? [False, True] Translation: X:58.85, Y:1.33, Z:1.42 [[ 9.91591881e-01 -5.23969852e-02 -1.18322006e-01 5.88540702e+01] [ 4.70128077e-02 9.97747654e-01 -4.78478250e-02 1.33170791e+00] [ 1.20562586e-01 4.18828650e-02 9.91821803e-01 1.41834289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44863999999998 meters Centerline goodness : 0.997739 with order 1 Centerline is valid? [True, True] Translation: X:58.92, Y:1.29, Z:1.42 [[ 9.91277359e-01 -5.38112389e-02 -1.20306063e-01 5.89155036e+01] [ 5.35627233e-02 9.98550417e-01 -5.30081534e-03 1.29435475e+00] [ 1.20416913e-01 -1.18934214e-03 9.92722697e-01 1.41743936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:58.98, Y:1.30, Z:1.40 [[ 9.91055410e-01 -5.77599733e-02 -1.20303614e-01 5.89765913e+01] [ 5.75337587e-02 9.98329195e-01 -5.35582268e-03 1.29800908e+00] [ 1.20411963e-01 -1.61360208e-03 9.92722698e-01 1.40224798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:59.03, Y:1.30, Z:1.41 [[ 9.90859664e-01 -6.10307633e-02 -1.20301171e-01 5.90348433e+01] [ 6.08219631e-02 9.98133968e-01 -5.41015598e-03 1.29632189e+00] [ 1.20406871e-01 -1.95624804e-03 9.92722700e-01 1.41006294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62863999999999 meters Centerline goodness : 0.997435 with order 1 Centerline is valid? [True, True] Translation: X:59.09, Y:1.30, Z:1.44 [[ 9.90681666e-01 -6.38595529e-02 -1.20298769e-01 5.90910805e+01] [ 6.36651001e-02 9.97956367e-01 -5.46306424e-03 1.29552294e+00] [ 1.20401791e-01 -2.24667556e-03 9.92722701e-01 1.43950764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68863999999999 meters Centerline goodness : 0.998965 with order 1 Centerline is valid? [True, True] Translation: X:59.15, Y:1.29, Z:1.42 [[ 9.90346395e-01 -6.88647063e-02 -1.20298256e-01 5.91521751e+01] [ 6.87056489e-02 9.97621955e-01 -5.47432102e-03 1.29252572e+00] [ 1.20389169e-01 -2.84369568e-03 9.92722701e-01 1.42491653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74864 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:59.21, Y:1.29, Z:1.43 [[ 9.90097866e-01 -7.23512892e-02 -1.20297574e-01 5.92104063e+01] [ 7.22160335e-02 9.97373908e-01 -5.48928317e-03 1.28726068e+00] [ 1.20378818e-01 -3.25248604e-03 9.92722701e-01 1.43279357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80864 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:59.27, Y:1.28, Z:1.44 [[ 9.90089563e-01 -7.24687810e-02 -1.20295189e-01 5.92690139e+01] [ 7.23281024e-02 9.97365501e-01 -5.54105921e-03 1.27847345e+00] [ 1.20379825e-01 -3.21457784e-03 9.92722703e-01 1.43835143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86863999999998 meters Centerline goodness : 0.997833 with order 1 Centerline is valid? [True, True] Translation: X:59.33, Y:1.27, Z:1.46 [[ 9.90370633e-01 -6.85248818e-02 -1.20292764e-01 5.93250768e+01] [ 6.83488933e-02 9.97645801e-01 -5.59321917e-03 1.27437786e+00] [ 1.20392845e-01 -2.68251727e-03 9.92722704e-01 1.46472262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92863999999999 meters Centerline goodness : 0.998373 with order 1 Centerline is valid? [True, True] Translation: X:59.38, Y:1.27, Z:1.47 [[ 9.90885019e-01 -6.06392290e-02 -1.20290328e-01 5.93842681e+01] [ 6.03990336e-02 9.98158349e-01 -5.64513418e-03 1.26509626e+00] [ 1.20411111e-01 -1.67174066e-03 9.92722705e-01 1.46711625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98863999999999 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:59.45, Y:1.26, Z:1.46 [[ 9.91054506e-01 -5.78084205e-02 -1.20287791e-01 5.94459423e+01] [ 5.75409513e-02 9.98326882e-01 -5.69867544e-03 1.25824935e+00] [ 1.20415967e-01 -1.27377597e-03 9.92722707e-01 1.45892290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04863999999999 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:59.50, Y:1.26, Z:1.47 [[ 9.91249935e-01 -5.43553405e-02 -1.20287423e-01 5.95046265e+01] [ 5.40615938e-02 9.98521297e-01 -5.70644684e-03 1.25521625e+00] [ 1.20419729e-01 -8.46414713e-04 9.92722707e-01 1.46642900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10864 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:59.56, Y:1.26, Z:1.47 [[ 9.91664803e-01 -4.61788915e-02 -1.20284781e-01 5.95630055e+01] [ 4.58184991e-02 9.98933165e-01 -5.76160479e-03 1.25778900e+00] [ 1.20422521e-01 2.02312569e-04 9.92722708e-01 1.47320021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16864 meters Centerline goodness : 0.997589 with order 1 Centerline is valid? [True, True] Translation: X:59.62, Y:1.26, Z:1.50 [[ 9.92139561e-01 -3.45153442e-02 -1.20282097e-01 5.96198624e+01] [ 3.40627851e-02 9.99402766e-01 -5.81710676e-03 1.26031925e+00] [ 1.20411039e-01 1.67423853e-03 9.92722710e-01 1.49629677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22863999999998 meters Centerline goodness : 0.996061 with order 1 Centerline is valid? [True, True] Translation: X:59.68, Y:1.27, Z:1.50 [[ 9.92464355e-01 -2.33840770e-02 -1.20281710e-01 5.96777828e+01] [ 2.28491065e-02 9.99721955e-01 -5.82508683e-03 1.27255190e+00] [ 1.20384481e-01 3.03286143e-03 9.92722710e-01 1.50456685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28863999999999 meters Centerline goodness : 0.997636 with order 1 Centerline is valid? [True, True] Translation: X:59.74, Y:1.28, Z:1.49 [[ 9.92582515e-01 -1.76898330e-02 -1.20278925e-01 5.97384672e+01] [ 1.71063397e-02 9.99836374e-01 -5.88203440e-03 1.27945164e+00] [ 1.20363297e-01 3.78087234e-03 9.92722711e-01 1.49460169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34863999999999 meters Centerline goodness : 0.972938 with order 1 Centerline is valid? [True, True] Translation: X:59.80, Y:1.33, Z:1.50 [[ 9.90888523e-01 6.06096549e-02 -1.20276368e-01 5.97954781e+01] [-6.17693643e-02 9.98072810e-01 -5.93387974e-03 1.33465521e+00] [ 1.19684922e-01 1.33092081e-02 9.92722713e-01 1.50191885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.40863999999999 meters Centerline goodness : 0.996853 with order 1 Centerline is valid? [True, True] Translation: X:59.85, Y:1.31, Z:1.52 [[ 9.92653315e-01 -1.31553687e-02 -1.20276068e-01 5.98531791e+01] [ 1.25317355e-02 9.99903832e-01 -5.93995739e-03 1.31109199e+00] [ 1.20342643e-01 4.38905053e-03 9.92722713e-01 1.51923520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46864 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:59.91, Y:1.33, Z:1.52 [[ 9.92609247e-01 -1.61653207e-02 -1.20272880e-01 5.99138458e+01] [ 1.55559469e-02 9.99860974e-01 -6.00381865e-03 1.32654195e+00] [ 1.20353213e-01 4.08848738e-03 9.92722715e-01 1.51513335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52864 meters Centerline goodness : 0.995671 with order 1 Centerline is valid? [True, True] Translation: X:59.97, Y:1.33, Z:1.54 [[ 9.92524614e-01 -2.07212900e-02 -1.20272684e-01 5.99714290e+01] [ 2.01447340e-02 9.99779024e-01 -6.00773816e-03 1.33425571e+00] [ 1.20370595e-01 3.53996677e-03 9.92722715e-01 1.53827158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58863999999998 meters Centerline goodness : 0.996461 with order 1 Centerline is valid? [True, True] Translation: X:60.03, Y:1.34, Z:1.54 [[ 9.92379467e-01 -2.67866268e-02 -1.20272485e-01 6.00294184e+01] [ 2.62539336e-02 9.99637229e-01 -6.01172236e-03 1.34294461e+00] [ 1.20389888e-01 2.80828399e-03 9.92722715e-01 1.54250401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.64863999999999 meters Centerline goodness : 0.952020 with order 1 Centerline is valid? [True, True] Translation: X:60.09, Y:1.31, Z:1.53 [[ 9.85051056e-01 -1.23327340e-01 -1.20269633e-01 6.00917734e+01] [ 1.23497297e-01 9.92326354e-01 -6.06825450e-03 1.30618572e+00] [ 1.20095108e-01 -8.87543413e-03 9.92722716e-01 1.52526948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70863999999999 meters Centerline goodness : 0.996260 with order 1 Centerline is valid? [True, True] Translation: X:60.14, Y:1.35, Z:1.56 [[ 9.91914252e-01 -4.05232429e-02 -1.20266305e-01 6.01442842e+01] [ 4.00763162e-02 9.99177796e-01 -6.13351636e-03 1.34604187e+00] [ 1.20415971e-01 1.26409183e-03 9.92722719e-01 1.55628027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.76863999999999 meters Centerline goodness : 0.996310 with order 1 Centerline is valid? [True, True] Translation: X:60.20, Y:1.34, Z:1.57 [[ 9.91448870e-01 -5.06552473e-02 -1.20262977e-01 6.02028601e+01] [ 5.02747205e-02 9.98716194e-01 -6.19809169e-03 1.33939445e+00] [ 1.20422549e-01 9.89034462e-05 9.92722721e-01 1.56574211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.82864 meters Centerline goodness : 0.998379 with order 1 Centerline is valid? [True, True] Translation: X:60.26, Y:1.34, Z:1.55 [[ 9.91438289e-01 -5.08688709e-02 -1.20260042e-01 6.02646183e+01] [ 5.04830648e-02 9.98705332e-01 -6.25452314e-03 1.33882021e+00] [ 1.20422506e-01 1.29878199e-04 9.92722722e-01 1.55394261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88864 meters Centerline goodness : 0.997589 with order 1 Centerline is valid? [True, True] Translation: X:60.32, Y:1.34, Z:1.57 [[ 9.91425434e-01 -5.11197509e-02 -1.20259633e-01 6.03220299e+01] [ 5.07348304e-02 9.98692525e-01 -6.26238310e-03 1.33829118e+00] [ 1.20422528e-01 1.07333794e-04 9.92722722e-01 1.57495452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94863999999998 meters Centerline goodness : 0.998377 with order 1 Centerline is valid? [True, True] Translation: X:60.38, Y:1.34, Z:1.57 [[ 9.91348067e-01 -5.26001624e-02 -1.20259023e-01 6.03829765e+01] [ 5.22246766e-02 9.98615651e-01 -6.27406796e-03 1.33580649e+00] [ 1.20422560e-01 -6.07034579e-05 9.92722722e-01 1.56848394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00863999999999 meters Centerline goodness : 0.996853 with order 1 Centerline is valid? [True, True] Translation: X:60.44, Y:1.33, Z:1.59 [[ 9.91212054e-01 -5.51047243e-02 -1.20258609e-01 6.04391423e+01] [ 5.47466387e-02 9.98480517e-01 -6.28200656e-03 1.33270804e+00] [ 1.20422046e-01 -3.56953981e-04 9.92722722e-01 1.59444914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06863999999999 meters Centerline goodness : 0.996853 with order 1 Centerline is valid? [True, True] Translation: X:60.50, Y:1.33, Z:1.60 [[ 9.91056086e-01 -5.78481048e-02 -1.20255691e-01 6.04982303e+01] [ 5.75034200e-02 9.98325195e-01 -6.33738080e-03 1.32778380e+00] [ 1.20420891e-01 -6.34413684e-04 9.92722724e-01 1.60145360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12863999999999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:60.56, Y:1.33, Z:1.56 [[ 9.92142227e-01 -3.45412165e-02 -1.20252678e-01 6.05622705e+01] [ 3.40189286e-02 9.99400735e-01 -6.39404927e-03 1.32776986e+00] [ 1.20401473e-01 2.25293902e-03 9.92722725e-01 1.56259159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.18863999999999 meters Centerline goodness : 0.998474 with order 1 Centerline is valid? [True, True] Translation: X:60.62, Y:1.33, Z:1.60 [[ 9.91270499e-01 -5.40572871e-02 -1.20252270e-01 6.06191212e+01] [ 5.36769990e-02 9.98537830e-01 -6.40171421e-03 1.32719240e+00] [ 1.20422500e-01 -1.08950522e-04 9.92722725e-01 1.59763094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.24864 meters Centerline goodness : 0.998084 with order 1 Centerline is valid? [True, True] Translation: X:60.68, Y:1.33, Z:1.61 [[ 9.91269248e-01 -5.40803464e-02 -1.20252214e-01 6.06777342e+01] [ 5.37001005e-02 9.98536581e-01 -6.40275985e-03 1.32553368e+00] [ 1.20422498e-01 -1.10697040e-04 9.92722725e-01 1.60539000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.30863999999998 meters Centerline goodness : 0.996411 with order 1 Centerline is valid? [True, True] Translation: X:60.73, Y:1.32, Z:1.64 [[ 9.91225648e-01 -5.48802617e-02 -1.20249210e-01 6.07336844e+01] [ 5.44990954e-02 9.98492931e-01 -6.45868918e-03 1.32477344e+00] [ 1.20422441e-01 -1.51454818e-04 9.92722727e-01 1.63546101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36863999999998 meters Centerline goodness : 0.997885 with order 1 Centerline is valid? [True, True] Translation: X:60.79, Y:1.32, Z:1.64 [[ 9.91055830e-01 -5.78721206e-02 -1.20246242e-01 6.07922610e+01] [ 5.75062440e-02 9.98323899e-01 -6.51348966e-03 1.32255837e+00] [ 1.20421647e-01 -4.59677826e-04 9.92722729e-01 1.64123762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42863999999999 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:60.85, Y:1.32, Z:1.63 [[ 9.90969827e-01 -5.93328502e-02 -1.20243146e-01 6.08536027e+01] [ 5.89708115e-02 9.98238086e-01 -6.57015364e-03 1.31503455e+00] [ 1.20421114e-01 -5.80011884e-04 9.92722730e-01 1.62726432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48863999999999 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:60.91, Y:1.31, Z:1.66 [[ 9.90948698e-01 -5.96909026e-02 -1.20240070e-01 6.09098792e+01] [ 5.93247158e-02 9.98216747e-01 -6.62598455e-03 1.31214846e+00] [ 1.20421162e-01 -5.67197187e-04 9.92722732e-01 1.65670368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.54863999999999 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:60.97, Y:1.31, Z:1.67 [[ 9.91094728e-01 -5.72215734e-02 -1.20236984e-01 6.09688066e+01] [ 5.68305414e-02 9.98361481e-01 -6.68151160e-03 1.30976507e+00] [ 1.20422300e-01 -2.11121996e-04 9.92722733e-01 1.66650089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.60864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:61.03, Y:1.31, Z:1.66 [[ 9.91244949e-01 -5.45584607e-02 -1.20236536e-01 6.10295618e+01] [ 5.41469289e-02 9.98510571e-01 -6.68956346e-03 1.30754878e+00] [ 1.20422425e-01 1.20556817e-04 9.92722733e-01 1.66471925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.66864 meters Centerline goodness : 0.937180 with order 1 Centerline is valid? [True, False] Translation: X:61.01, Y:1.33, Z:1.66 [[ 9.91458141e-01 -5.37848026e-02 -1.18818978e-01 6.10085887e+01] [ 4.96443784e-02 9.98061294e-01 -3.75378296e-02 1.33052246e+00] [ 1.20607588e-01 3.13184925e-02 9.92206108e-01 1.66288099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.72863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [False, True] Translation: X:60.97, Y:1.34, Z:1.66 [[ 9.94279605e-01 -4.68129286e-02 -9.60032120e-02 6.09673985e+01] [ 4.27209097e-02 9.98106808e-01 -4.42461605e-02 1.33529283e+00] [ 9.78927519e-02 3.98917104e-02 9.94397134e-01 1.65871337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:61.03, Y:1.30, Z:1.66 [[ 9.94321765e-01 -4.14385804e-02 -9.80156678e-02 6.10276980e+01] [ 4.11651123e-02 9.99140772e-01 -4.81155789e-03 1.30323225e+00] [ 9.81308341e-02 7.49410762e-04 9.95173240e-01 1.66206069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84863999999999 meters Centerline goodness : 0.991342 with order 1 Centerline is valid? [True, True] Translation: X:61.09, Y:1.28, Z:1.65 [[ 9.89315118e-01 -1.07930447e-01 -9.80133485e-02 6.10888883e+01] [ 1.07975679e-01 9.94141665e-01 -4.85834917e-03 1.28227410e+00] [ 9.79635172e-02 -5.77661955e-03 9.95173241e-01 1.64971416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90863999999999 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:61.14, Y:1.32, Z:1.68 [[ 9.94491642e-01 -3.71511788e-02 -9.80110392e-02 6.11434988e+01] [ 3.68477774e-02 9.99308855e-01 -4.90450151e-03 1.31845892e+00] [ 9.81255073e-02 1.26599681e-03 9.95173242e-01 1.67507731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96864 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:61.20, Y:1.33, Z:1.68 [[ 9.94370166e-01 -4.02733319e-02 -9.80103674e-02 6.12014969e+01] [ 3.99837367e-02 9.99188228e-01 -4.91789012e-03 1.32542677e+00] [ 9.81288651e-02 9.71382494e-04 9.95173242e-01 1.68171378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.26, Y:1.33, Z:1.67 [[ 9.94244561e-01 -4.32649112e-02 -9.80096971e-02 6.12617275e+01] [ 4.29885002e-02 9.99063397e-01 -4.93121204e-03 1.32885030e+00] [ 9.81312494e-02 6.89540863e-04 9.95173242e-01 1.66533631e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08863999999998 meters Centerline goodness : 0.999802 with order 1 Centerline is valid? [True, True] Translation: X:61.32, Y:1.34, Z:1.69 [[ 9.94200511e-01 -4.42674497e-02 -9.80088600e-02 6.13173293e+01] [ 4.39942634e-02 9.99019531e-01 -4.94779424e-03 1.33903410e+00] [ 9.81317916e-02 6.07271962e-04 9.95173243e-01 1.69224316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14863999999999 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:61.38, Y:1.34, Z:1.70 [[ 9.93988553e-01 -4.88004149e-02 -9.80065085e-02 6.13754849e+01] [ 4.85446552e-02 9.98808529e-01 -4.99394446e-03 1.34328194e+00] [ 9.81334431e-02 2.06231464e-04 9.95173244e-01 1.69894894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20863999999999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:61.43, Y:1.35, Z:1.71 [[ 9.93799397e-01 -5.25162514e-02 -9.80040948e-02 6.14327731e+01] [ 5.22738857e-02 9.98620063e-01 -5.04087310e-03 1.34593418e+00] [ 9.81335831e-02 -1.13438211e-04 9.95173245e-01 1.70714069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26863999999999 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:61.49, Y:1.35, Z:1.71 [[ 9.93558004e-01 -5.69054590e-02 -9.80013376e-02 6.14914258e+01] [ 5.66791566e-02 9.98379449e-01 -5.09392204e-03 1.34687189e+00] [ 9.81323934e-02 -4.93526145e-04 9.95173246e-01 1.71454643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32864 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:61.55, Y:1.35, Z:1.72 [[ 9.93498531e-01 -5.79385731e-02 -9.79989287e-02 6.15499830e+01] [ 5.77127537e-02 9.98319999e-01 -5.13985318e-03 1.34870338e+00] [ 9.81320861e-02 -5.49351451e-04 9.95173247e-01 1.72060273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.61, Y:1.34, Z:1.70 [[ 9.93568828e-01 -5.67244758e-02 -9.79965230e-02 6.16117042e+01] [ 5.64882804e-02 9.98389797e-01 -5.18532028e-03 1.34187757e+00] [ 9.81328632e-02 -3.83682475e-04 9.95173248e-01 1.70033974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:61.67, Y:1.34, Z:1.71 [[ 9.93498163e-01 -5.79530551e-02 -9.79941025e-02 6.16693416e+01] [ 5.77183484e-02 9.98319204e-01 -5.23066870e-03 1.34068011e+00] [ 9.81325276e-02 -4.59398005e-04 9.95173249e-01 1.70557214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50863999999999 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:61.73, Y:1.33, Z:1.74 [[ 9.93488276e-01 -5.81269866e-02 -9.79913245e-02 6.17262742e+01] [ 5.78880407e-02 9.98309107e-01 -5.28220558e-03 1.33446160e+00] [ 9.81326704e-02 -4.24716471e-04 9.95173251e-01 1.73553027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56863999999999 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:61.79, Y:1.33, Z:1.74 [[ 9.93674340e-01 -5.48588517e-02 -9.79888401e-02 6.17850052e+01] [ 5.45995442e-02 9.98494118e-01 -5.32789939e-03 1.32875922e+00] [ 9.81335629e-02 -5.59491067e-05 9.95173252e-01 1.74072741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62863999999999 meters Centerline goodness : 0.997588 with order 1 Centerline is valid? [True, True] Translation: X:61.84, Y:1.32, Z:1.74 [[ 9.93963346e-01 -4.93512959e-02 -9.79863031e-02 6.18438947e+01] [ 4.90607220e-02 9.98781339e-01 -5.37415838e-03 1.32262562e+00] [ 9.81321128e-02 5.34437667e-04 9.95173253e-01 1.74448702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68863999999999 meters Centerline goodness : 0.997046 with order 1 Centerline is valid? [True, True] Translation: X:61.90, Y:1.32, Z:1.75 [[ 9.94147068e-01 -4.55059041e-02 -9.79837694e-02 6.19016269e+01] [ 4.51921802e-02 9.98963608e-01 -5.41996583e-03 1.32202652e+00] [ 9.81288603e-02 9.60142972e-04 9.95173254e-01 1.74947443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74864 meters Centerline goodness : 0.995858 with order 1 Centerline is valid? [True, True] Translation: X:61.96, Y:1.32, Z:1.76 [[ 9.94529573e-01 -3.62034112e-02 -9.79808202e-02 6.19603217e+01] [ 3.58394409e-02 9.99342576e-01 -5.47276856e-03 1.32447615e+00] [ 9.81145381e-02 1.93125236e-03 9.95173255e-01 1.75676323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80863999999998 meters Centerline goodness : 0.995571 with order 1 Centerline is valid? [True, True] Translation: X:62.02, Y:1.33, Z:1.76 [[ 9.94761192e-01 -2.91621001e-02 -9.79782783e-02 6.20183962e+01] [ 2.87596246e-02 9.99571126e-01 -5.51790481e-03 1.33010711e+00] [ 9.80971717e-02 2.67117907e-03 9.95173256e-01 1.76310411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86863999999998 meters Centerline goodness : 0.996357 with order 1 Centerline is valid? [True, True] Translation: X:62.08, Y:1.35, Z:1.75 [[ 9.94936314e-01 -2.24162862e-02 -9.79757211e-02 6.20795616e+01] [ 2.19767751e-02 9.99743004e-01 -5.56294583e-03 1.34513900e+00] [ 9.80752423e-02 3.38158643e-03 9.95173257e-01 1.74886441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92863999999999 meters Centerline goodness : 0.995515 with order 1 Centerline is valid? [True, True] Translation: X:62.14, Y:1.36, Z:1.77 [[ 9.95004134e-01 -1.91720028e-02 -9.79755441e-02 6.21369969e+01] [ 1.87165147e-02 9.99809337e-01 -5.56606154e-03 1.35738267e+00] [ 9.80635763e-02 3.70449354e-03 9.95173257e-01 1.76908856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98863999999999 meters Centerline goodness : 0.964755 with order 1 Centerline is valid? [True, True] Translation: X:62.20, Y:1.34, Z:1.77 [[ 9.89593518e-01 -1.05382605e-01 -9.79753820e-02 6.21976990e+01] [ 1.05345239e-01 9.94420116e-01 -5.56891339e-03 1.33649661e+00] [ 9.80155573e-02 -4.81027945e-03 9.95173257e-01 1.76613637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04863999999999 meters Centerline goodness : 0.995276 with order 1 Centerline is valid? [True, True] Translation: X:62.25, Y:1.39, Z:1.78 [[ 9.94560675e-01 -3.53608130e-02 -9.79728354e-02 6.22525865e+01] [ 3.49789213e-02 9.99372286e-01 -5.61336155e-03 1.38656159e+00] [ 9.81098295e-02 2.15584455e-03 9.95173258e-01 1.78012153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10864 meters Centerline goodness : 0.950846 with order 3 Centerline is valid? [True, True] Translation: X:62.22, Y:1.35, Z:1.76 [[ 9.85154470e-01 -1.40969856e-01 -9.79702494e-02 6.22157559e+01] [ 1.41097609e-01 9.89979520e-01 -5.65813951e-03 1.34686434e+00] [ 9.77861676e-02 -8.24922655e-03 9.95173259e-01 1.75622758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16864 meters Centerline goodness : 0.995622 with order 1 Centerline is valid? [True, True] Translation: X:62.34, Y:1.44, Z:1.78 [[ 9.94170703e-01 -5.00395007e-02 -9.55021553e-02 6.23426693e+01] [ 4.64393651e-02 9.98137633e-01 -3.95556782e-02 1.43901219e+00] [ 9.73036416e-02 3.48900369e-02 9.94642995e-01 1.78135133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22863999999998 meters Centerline goodness : 0.995770 with order 1 Centerline is valid? [True, True] Translation: X:62.40, Y:1.41, Z:1.78 [[ 9.93805062e-01 -5.32235541e-02 -9.75640883e-02 6.24029997e+01] [ 5.29102805e-02 9.98582442e-01 -5.79723648e-03 1.41144838e+00] [ 9.77343351e-02 5.99179689e-04 9.95212360e-01 1.78335078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28863999999999 meters Centerline goodness : 0.995716 with order 1 Centerline is valid? [True, True] Translation: X:62.46, Y:1.41, Z:1.79 [[ 9.93416580e-01 -6.00440317e-02 -9.75613264e-02 6.24614812e+01] [ 5.97590297e-02 9.98195729e-01 -5.84335167e-03 1.40898463e+00] [ 9.77361577e-02 -2.52877644e-05 9.95212361e-01 1.78702110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34863999999999 meters Centerline goodness : 0.994634 with order 1 Centerline is valid? [True, True] Translation: X:62.52, Y:1.41, Z:1.81 [[ 9.93144374e-01 -6.43945178e-02 -9.75581788e-02 6.25183461e+01] [ 6.41253339e-02 9.97924439e-01 -5.89543978e-03 1.40655959e+00] [ 9.77353248e-02 -4.00927946e-04 9.95212362e-01 1.81410490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40863999999999 meters Centerline goodness : 0.992966 with order 1 Centerline is valid? [True, True] Translation: X:62.58, Y:1.40, Z:1.82 [[ 9.93005893e-01 -6.64998619e-02 -9.75554493e-02 6.25765855e+01] [ 6.62364087e-02 9.97786275e-01 -5.94026733e-03 1.40382227e+00] [ 9.77345154e-02 -5.63002148e-04 9.95212363e-01 1.82192533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46864 meters Centerline goodness : 0.994640 with order 1 Centerline is valid? [True, True] Translation: X:62.64, Y:1.41, Z:1.82 [[ 9.93195467e-01 -6.36098654e-02 -9.75528052e-02 6.26366493e+01] [ 6.33282675e-02 9.97974814e-01 -5.98337876e-03 1.40510219e+00] [ 9.77358445e-02 -2.35185479e-04 9.95212364e-01 1.82335089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52864 meters Centerline goodness : 0.995868 with order 1 Centerline is valid? [True, True] Translation: X:62.70, Y:1.41, Z:1.81 [[ 9.93299361e-01 -6.19669852e-02 -9.75524107e-02 6.26972385e+01] [ 6.16768514e-02 9.98078197e-01 -5.98980355e-03 1.40634173e+00] [ 9.77361043e-02 -6.70575077e-05 9.95212364e-01 1.81118084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58863999999998 meters Centerline goodness : 0.993648 with order 1 Centerline is valid? [True, True] Translation: X:62.75, Y:1.41, Z:1.84 [[ 9.93575254e-01 -5.73785153e-02 -9.75495851e-02 6.27532226e+01] [ 5.70618284e-02 9.98352403e-01 -6.03547440e-03 1.41098787e+00] [ 9.77351692e-02 4.30340327e-04 9.95212365e-01 1.83603560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64863999999999 meters Centerline goodness : 0.996111 with order 1 Centerline is valid? [True, True] Translation: X:62.81, Y:1.42, Z:1.82 [[ 9.93564493e-01 -5.75662347e-02 -9.75485869e-02 6.28139741e+01] [ 5.72488706e-02 9.98341598e-01 -6.05156413e-03 1.41580988e+00] [ 9.77351779e-02 4.28072812e-04 9.95212365e-01 1.82207923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70863999999999 meters Centerline goodness : 0.995222 with order 1 Centerline is valid? [True, True] Translation: X:62.87, Y:1.42, Z:1.85 [[ 9.93411290e-01 -6.01564588e-02 -9.75459344e-02 6.28706911e+01] [ 5.98473814e-02 9.98188937e-01 -6.09402369e-03 1.42095012e+00] [ 9.77358675e-02 2.16003184e-04 9.95212366e-01 1.84655517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76863999999999 meters Centerline goodness : 0.948613 with order 3 Centerline is valid? [True, False] Translation: X:62.87, Y:1.44, Z:1.85 [[ 9.92919897e-01 -6.13419257e-02 -1.01721417e-01 6.28749071e+01] [ 5.87588761e-02 9.97873790e-01 -2.82009697e-02 1.43604657e+00] [ 1.03235038e-01 2.20242678e-02 9.94413123e-01 1.84994412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.82864 meters Centerline goodness : 0.997390 with order 1 Centerline is valid? [False, True] Translation: X:62.92, Y:1.46, Z:1.86 [[ 9.91510279e-01 -5.28804567e-02 -1.18789831e-01 6.29214673e+01] [ 4.71315462e-02 9.97601375e-01 -5.06962906e-02 1.45881574e+00] [ 1.21185741e-01 4.46671449e-02 9.91624355e-01 1.85835383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88864 meters Centerline goodness : 0.998178 with order 1 Centerline is valid? [True, True] Translation: X:62.98, Y:1.42, Z:1.86 [[ 9.91479099e-01 -4.86656028e-02 -1.20834002e-01 6.29824959e+01] [ 4.84064989e-02 9.98814798e-01 -5.08046008e-03 1.41925278e+00] [ 1.20938033e-01 -8.11981010e-04 9.92659727e-01 1.85805553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94863999999998 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:63.04, Y:1.42, Z:1.87 [[ 9.91430714e-01 -4.96473370e-02 -1.20831623e-01 6.30407898e+01] [ 4.93886761e-02 9.98766427e-01 -5.13642844e-03 1.41743560e+00] [ 1.20937579e-01 -8.75300984e-04 9.92659728e-01 1.86724577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00863999999999 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:63.10, Y:1.42, Z:1.88 [[ 9.91447334e-01 -4.93202257e-02 -1.20829214e-01 6.30987097e+01] [ 4.90523124e-02 9.98782713e-01 -5.19248984e-03 1.41843800e+00] [ 1.20938225e-01 -7.78872154e-04 9.92659730e-01 1.87665130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06863999999999 meters Centerline goodness : 0.998179 with order 1 Centerline is valid? [True, True] Translation: X:63.16, Y:1.42, Z:1.88 [[ 9.91466947e-01 -4.89304542e-02 -1.20826753e-01 6.31568106e+01] [ 4.86527532e-02 9.98801960e-01 -5.24914320e-03 1.41811733e+00] [ 1.20938841e-01 -6.74202222e-04 9.92659731e-01 1.88306211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:63.22, Y:1.42, Z:1.87 [[ 9.91600055e-01 -4.61608987e-02 -1.20824261e-01 6.32180603e+01] [ 4.58557959e-02 9.98933979e-01 -5.30589187e-03 1.42123398e+00] [ 1.20940385e-01 -2.79169999e-04 9.92659733e-01 1.86893641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18863999999999 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:63.27, Y:1.43, Z:1.89 [[ 9.91934142e-01 -3.83244518e-02 -1.20821745e-01 6.32748505e+01] [ 3.79545044e-02 9.99265079e-01 -5.36259049e-03 1.42879947e+00] [ 1.20938469e-01 7.33607144e-04 9.92659735e-01 1.89331712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24864 meters Centerline goodness : 0.998868 with order 1 Centerline is valid? [True, True] Translation: X:63.33, Y:1.44, Z:1.90 [[ 9.92144930e-01 -3.24134189e-02 -1.20821387e-01 6.33329559e+01] [ 3.19988179e-02 9.99473477e-01 -5.37063487e-03 1.43571480e+00] [ 1.20931853e-01 1.46230658e-03 9.92659735e-01 1.89876926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30863999999998 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:63.39, Y:1.44, Z:1.91 [[ 9.92251112e-01 -2.89920653e-02 -1.20818834e-01 6.33910886e+01] [ 2.85452766e-02 9.99577766e-01 -5.42747662e-03 1.44348117e+00] [ 1.20925174e-01 1.93661267e-03 9.92659736e-01 1.90888681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36863999999998 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:63.45, Y:1.46, Z:1.91 [[ 9.92429930e-01 -2.20505812e-02 -1.20816412e-01 6.34485857e+01] [ 2.15460559e-02 9.99752833e-01 -5.48088030e-03 1.45818646e+00] [ 1.20907406e-01 2.83627250e-03 9.92659738e-01 1.91416706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42863999999999 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:63.51, Y:1.48, Z:1.93 [[ 9.92577600e-01 -1.39041363e-02 -1.20815489e-01 6.35057741e+01] [ 1.33370587e-02 9.99895925e-01 -5.50114441e-03 1.47650336e+00] [ 1.20879404e-01 3.84898945e-03 9.92659738e-01 1.92617654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48863999999999 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:63.56, Y:1.50, Z:1.93 [[ 9.92640804e-01 -8.24802884e-03 -1.20814751e-01 6.35634128e+01] [ 7.63729557e-03 9.99955615e-01 -5.51730257e-03 1.49509327e+00] [ 1.20854896e-01 4.55400169e-03 9.92659738e-01 1.93113861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.62, Y:1.51, Z:1.92 [[ 9.92663837e-01 -4.78867889e-03 -1.20812151e-01 6.36231089e+01] [ 4.14561004e-03 9.99975874e-01 -5.57366277e-03 1.50981348e+00] [ 1.20835927e-01 5.03193341e-03 9.92659740e-01 1.92037711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60864 meters Centerline goodness : 0.997788 with order 1 Centerline is valid? [True, True] Translation: X:63.68, Y:1.53, Z:1.95 [[ 9.92617525e-01 -1.07468885e-02 -1.20809573e-01 6.36790674e+01] [ 1.01409946e-02 9.99932735e-01 -5.62899671e-03 1.52806850e+00] [ 1.20861941e-01 4.36231156e-03 9.92659741e-01 1.95180090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:63.74, Y:1.54, Z:1.94 [[ 9.92565786e-01 -1.47733404e-02 -1.20809391e-01 6.37407462e+01] [ 1.41966511e-02 9.99883356e-01 -5.63289820e-03 1.53971845e+00] [ 1.20878516e-01 3.87593325e-03 9.92659741e-01 1.93717288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:63.80, Y:1.55, Z:1.94 [[ 9.92489236e-01 -1.92419390e-02 -1.20809204e-01 6.37984019e+01] [ 1.86977137e-02 9.99809292e-01 -5.63690354e-03 1.55028680e+00] [ 1.20894630e-01 3.33571017e-03 9.92659741e-01 1.94452710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78863999999999 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:63.85, Y:1.56, Z:1.97 [[ 9.92379292e-01 -2.42717491e-02 -1.20806554e-01 6.38548152e+01] [ 2.37577870e-02 9.99701533e-01 -5.69314251e-03 1.56283993e+00] [ 1.20908680e-01 2.77966034e-03 9.92659743e-01 1.96881576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:63.91, Y:1.58, Z:1.97 [[ 9.92293745e-01 -2.75498141e-02 -1.20806177e-01 6.39123781e+01] [ 2.70590692e-02 9.99617579e-01 -5.70114396e-03 1.57677831e+00] [ 1.20917043e-01 2.38830680e-03 9.92659743e-01 1.97393963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:63.97, Y:1.59, Z:1.98 [[ 9.92124748e-01 -3.30920911e-02 -1.20803140e-01 6.39705542e+01] [ 3.26345159e-02 9.99450727e-01 -5.76478107e-03 1.58710893e+00] [ 1.20927555e-01 1.77702998e-03 9.92659745e-01 1.98262208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96864 meters Centerline goodness : 0.973713 with order 1 Centerline is valid? [True, True] Translation: X:64.03, Y:1.64, Z:1.97 [[ 9.91726727e-01 4.34201442e-02 -1.20800621e-01 6.40285051e+01] [-4.44469294e-02 9.98994811e-01 -5.81709852e-03 1.63676597e+00] [ 1.20426614e-01 1.11381887e-02 9.92659746e-01 1.97351317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:64.09, Y:1.60, Z:1.99 [[ 9.91367834e-01 -5.09674652e-02 -1.20797909e-01 6.40871726e+01] [ 5.06288251e-02 9.98700271e-01 -5.87288814e-03 1.59716184e+00] [ 1.20940230e-01 -2.93663792e-04 9.92659748e-01 1.99214734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08863999999998 meters Centerline goodness : 0.926520 with order 1 Centerline is valid? [True, False] Translation: X:64.12, Y:1.62, Z:2.00 [[ 9.89702822e-01 -4.87494225e-02 -1.34580154e-01 6.41237500e+01] [ 4.48676966e-02 9.98488943e-01 -3.17288498e-02 1.61688065e+00] [ 1.35923559e-01 2.53638307e-02 9.90394599e-01 2.00252121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [False, True] Translation: X:64.13, Y:1.62, Z:2.00 [[ 9.90611114e-01 -3.71630064e-02 -1.31561891e-01 6.41308150e+01] [ 3.23777156e-02 9.98740539e-01 -3.83277864e-02 1.61917331e+00] [ 1.32820569e-01 3.37082577e-02 9.90566732e-01 1.99912270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:64.19, Y:1.58, Z:2.00 [[ 9.90807392e-01 -2.71739719e-02 -1.32522782e-01 6.41907578e+01] [ 2.69704628e-02 9.99630682e-01 -3.33076395e-03 1.58341388e+00] [ 1.32564349e-01 -2.74055232e-04 9.91174363e-01 1.99909799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26863999999999 meters Centerline goodness : 0.940586 with order 1 Centerline is valid? [True, False] Translation: X:64.21, Y:1.60, Z:2.00 [[ 9.90228096e-01 -1.18534250e-02 -1.38952563e-01 6.42081539e+01] [ 8.28790648e-03 9.99622087e-01 -2.62105824e-02 1.59870771e+00] [ 1.39210736e-01 2.48028292e-02 9.89952115e-01 2.00286420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32864 meters Centerline goodness : 0.780255 with order 3 Centerline is valid? [False, False] Translation: X:64.21, Y:1.61, Z:2.00 [[ 9.90765155e-01 -7.03192178e-03 -1.35406647e-01 6.42055717e+01] [ 1.49788061e-03 9.99160960e-01 -4.09283732e-02 1.60989744e+00] [ 1.35580841e-01 4.03475830e-02 9.89944396e-01 2.00484961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.38864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [False, True] Translation: X:64.24, Y:1.63, Z:2.02 [[ 9.88559997e-01 -4.42747444e-04 -1.50827505e-01 6.42447574e+01] [-9.22121779e-03 9.97947657e-01 -6.33675260e-02 1.62846727e+00] [ 1.50546011e-01 6.40334145e-02 9.86527050e-01 2.01737299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:64.31, Y:1.58, Z:2.01 [[ 9.88285454e-01 1.46405024e-02 -1.51912859e-01 6.43053202e+01] [-1.51161114e-02 9.99883792e-01 -1.97634304e-03 1.58378190e+00] [ 1.51866271e-01 4.24952278e-03 9.88391915e-01 2.01178840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50863999999999 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:64.36, Y:1.59, Z:2.02 [[ 9.88282718e-01 1.48337545e-02 -1.51911909e-01 6.43641251e+01] [-1.53224626e-02 9.99880509e-01 -2.04686371e-03 1.59149847e+00] [ 1.51863394e-01 4.35054458e-03 9.88391917e-01 2.01531035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56863999999999 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:64.42, Y:1.61, Z:2.03 [[ 9.88294445e-01 1.40415911e-02 -1.51910910e-01 6.44199096e+01] [-1.45320085e-02 9.99892160e-01 -2.11852122e-03 1.60602925e+00] [ 1.51864781e-01 4.30129340e-03 9.88391920e-01 2.02913512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62863999999999 meters Centerline goodness : 0.997498 with order 1 Centerline is valid? [True, True] Translation: X:64.48, Y:1.61, Z:2.04 [[ 9.88385209e-01 4.25598053e-03 -1.51909725e-01 6.44770665e+01] [-4.64412644e-03 9.99986795e-01 -2.20039603e-03 1.61351292e+00] [ 1.51898354e-01 2.88032686e-03 9.88391923e-01 2.04062466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68863999999999 meters Centerline goodness : 0.997293 with order 1 Centerline is valid? [True, True] Translation: X:64.54, Y:1.62, Z:2.05 [[ 9.88369604e-01 -7.02358167e-03 -1.51908509e-01 6.45354990e+01] [ 6.75541157e-03 9.99974580e-01 -2.28137102e-03 1.61752202e+00] [ 1.51920671e-01 1.22863327e-03 9.88391926e-01 2.05326817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74864 meters Centerline goodness : 0.997493 with order 1 Centerline is valid? [True, True] Translation: X:64.59, Y:1.62, Z:2.06 [[ 9.88162402e-01 -2.14223541e-02 -1.51908360e-01 6.45936508e+01] [ 2.13217693e-02 9.99770040e-01 -2.29123017e-03 1.61767652e+00] [ 1.51922511e-01 -9.74847513e-04 9.88391926e-01 2.06057469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80863999999998 meters Centerline goodness : 0.998036 with order 1 Centerline is valid? [True, True] Translation: X:64.65, Y:1.62, Z:2.05 [[ 9.88050454e-01 -2.60860612e-02 -1.51907265e-01 6.46546071e+01] [ 2.60294273e-02 9.99658387e-01 -2.36171950e-03 1.61538487e+00] [ 1.51916979e-01 -1.62056109e-03 9.88391929e-01 2.04943772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86863999999998 meters Centerline goodness : 0.997692 with order 1 Centerline is valid? [True, True] Translation: X:64.71, Y:1.61, Z:2.06 [[ 9.88049739e-01 -2.61194261e-02 -1.51906182e-01 6.47132154e+01] [ 2.60527737e-02 9.99657617e-01 -2.42944037e-03 1.61223899e+00] [ 1.51917628e-01 -1.55716946e-03 9.88391931e-01 2.05803146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92863999999999 meters Centerline goodness : 0.996367 with order 1 Centerline is valid? [True, True] Translation: X:64.77, Y:1.61, Z:2.09 [[ 9.88120787e-01 -2.32842920e-02 -1.51905078e-01 6.47680581e+01] [ 2.31740015e-02 9.99728329e-01 -2.49664922e-03 1.61008727e+00] [ 1.51921943e-01 -1.05325752e-03 9.88391933e-01 2.09176221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98863999999999 meters Centerline goodness : 0.997734 with order 1 Centerline is valid? [True, True] Translation: X:64.83, Y:1.61, Z:2.08 [[ 9.88194344e-01 -1.99235367e-02 -1.51904545e-01 6.48297477e+01] [ 1.97688515e-02 9.99801380e-01 -2.52864203e-03 1.60570114e+00] [ 1.51924754e-01 -5.04188653e-04 9.88391934e-01 2.07552265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04863999999999 meters Centerline goodness : 0.997005 with order 1 Centerline is valid? [True, True] Translation: X:64.89, Y:1.60, Z:2.11 [[ 9.88201465e-01 -1.95761770e-02 -1.51903383e-01 6.48857546e+01] [ 1.94069520e-02 9.99808295e-01 -2.59668890e-03 1.59911310e+00] [ 1.51925095e-01 -3.81929873e-04 9.88391936e-01 2.10617287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10864 meters Centerline goodness : 0.906961 with order 3 Centerline is valid? [True, False] Translation: X:64.93, Y:1.61, Z:2.12 [[ 9.85413787e-01 -1.52327460e-02 -1.69492276e-01 6.49321724e+01] [ 1.10530395e-02 9.99611762e-01 -2.55764724e-02 1.61417192e+00] [ 1.69816072e-01 2.33300038e-02 9.85199580e-01 2.11790485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16863999999998 meters Centerline goodness : 0.989395 with order 1 Centerline is valid? [False, True] Translation: X:64.98, Y:1.62, Z:2.13 [[ 9.82132186e-01 -5.48664762e-03 -1.88112375e-01 6.49833523e+01] [-2.60739729e-03 9.99082258e-01 -4.27532802e-02 1.62356099e+00] [ 1.88174309e-01 4.24798563e-02 9.81216536e-01 2.12956841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22863999999998 meters Centerline goodness : 0.994301 with order 1 Centerline is valid? [True, True] Translation: X:65.05, Y:1.59, Z:2.12 [[ 9.81593309e-01 1.87665043e-02 -1.90058924e-01 6.50466331e+01] [-2.12658798e-02 9.99712019e-01 -1.11194221e-02 1.58840645e+00] [ 1.89795518e-01 1.49565206e-02 9.81709715e-01 2.11863335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28863999999999 meters Centerline goodness : 0.996317 with order 1 Centerline is valid? [True, True] Translation: X:65.11, Y:1.58, Z:2.13 [[ 9.81709727e-01 1.11489342e-02 -1.90057134e-01 6.51051296e+01] [-1.35135160e-02 9.99846520e-01 -1.11499471e-02 1.58304673e+00] [ 1.89903654e-01 1.35143516e-02 9.81709715e-01 2.13472484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34863999999999 meters Centerline goodness : 0.997201 with order 1 Centerline is valid? [True, True] Translation: X:65.16, Y:1.58, Z:2.15 [[ 9.80828781e-01 -4.30621914e-02 -1.90054074e-01 6.51619678e+01] [ 4.16923775e-02 9.99067697e-01 -1.12018676e-02 1.57878531e+00] [ 1.90359263e-01 3.06330798e-03 9.81709716e-01 2.15431284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.40863999999999 meters Centerline goodness : 0.996463 with order 1 Centerline is valid? [True, True] Translation: X:65.22, Y:1.58, Z:2.18 [[ 9.80681645e-01 -4.62967373e-02 -1.90052946e-01 6.52176949e+01] [ 4.49833829e-02 9.98924715e-01 -1.12209632e-02 1.57920020e+00] [ 1.90368079e-01 2.45496817e-03 9.81709717e-01 2.18081195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46864 meters Centerline goodness : 0.995966 with order 1 Centerline is valid? [True, True] Translation: X:65.27, Y:1.58, Z:2.19 [[ 9.80356158e-01 -5.27443000e-02 -1.90052207e-01 6.52746649e+01] [ 5.15485097e-02 9.98607310e-01 -1.12334643e-02 1.57611803e+00] [ 1.90380025e-01 1.21588788e-03 9.81709717e-01 2.19486024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52864 meters Centerline goodness : 0.996363 with order 1 Centerline is valid? [True, True] Translation: X:65.33, Y:1.57, Z:2.20 [[ 9.79090670e-01 -7.25511891e-02 -1.90046796e-01 6.53335521e+01] [ 7.17069574e-02 9.97361455e-01 -1.13242979e-02 1.56613547e+00] [ 1.90366940e-01 -2.54016310e-03 9.81709721e-01 2.20264242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58863999999998 meters Centerline goodness : 0.996408 with order 1 Centerline is valid? [True, True] Translation: X:65.39, Y:1.57, Z:2.22 [[ 9.79905624e-01 -6.05740865e-02 -1.90041437e-01 6.53904288e+01] [ 5.94892091e-02 9.98163697e-01 -1.14135295e-02 1.57138500e+00] [ 1.90383828e-01 -1.21233062e-04 9.81709725e-01 2.21532211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64863999999999 meters Centerline goodness : 0.995966 with order 1 Centerline is valid? [True, True] Translation: X:65.45, Y:1.57, Z:2.23 [[ 9.79907292e-01 -6.05639240e-02 -1.90036078e-01 6.54474696e+01] [ 5.94616821e-02 9.98164320e-01 -1.15020903e-02 1.56929439e+00] [ 1.90383844e-01 -2.88826977e-05 9.81709728e-01 2.22917105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70863999999999 meters Centerline goodness : 0.995424 with order 1 Centerline is valid? [True, True] Translation: X:65.51, Y:1.56, Z:2.25 [[ 9.79856269e-01 -6.14005033e-02 -1.90030709e-01 6.55055230e+01] [ 6.02967732e-02 9.98113204e-01 -1.15901363e-02 1.56393034e+00] [ 1.90383800e-01 -1.01570827e-04 9.81709732e-01 2.24714117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76863999999999 meters Centerline goodness : 0.998275 with order 1 Centerline is valid? [True, True] Translation: X:65.57, Y:1.56, Z:2.25 [[ 9.80089830e-01 -5.75609737e-02 -1.90028048e-01 6.55673395e+01] [ 5.63772946e-02 9.98341755e-01 -1.16336009e-02 1.55866098e+00] [ 1.90382576e-01 6.88706675e-04 9.81709733e-01 2.24763575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82864 meters Centerline goodness : 0.998080 with order 1 Centerline is valid? [True, True] Translation: X:65.62, Y:1.56, Z:2.26 [[ 9.80310787e-01 -5.36698200e-02 -1.90027134e-01 6.56246337e+01] [ 5.24108036e-02 9.98557670e-01 -1.16485166e-02 1.55966721e+00] [ 1.90378226e-01 1.45969167e-03 9.81709733e-01 2.26293588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88864 meters Centerline goodness : 0.998474 with order 1 Centerline is valid? [True, True] Translation: X:65.68, Y:1.57, Z:2.27 [[ 9.80689777e-01 -4.62531820e-02 -1.90021588e-01 6.56813637e+01] [ 4.48387881e-02 9.98925270e-01 -1.17383045e-02 1.56537140e+00] [ 1.90360300e-01 2.99129746e-03 9.81709737e-01 2.27106669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94863999999998 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:65.74, Y:1.57, Z:2.28 [[ 9.81005392e-01 -3.89993306e-02 -1.90019667e-01 6.57382592e+01] [ 3.74441116e-02 9.99229414e-01 -1.17693235e-02 1.57225110e+00] [ 1.90332236e-01 4.43065219e-03 9.81709738e-01 2.28220877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.00863999999999 meters Centerline goodness : 0.998478 with order 1 Centerline is valid? [True, True] Translation: X:65.80, Y:1.56, Z:2.28 [[ 9.78537918e-01 -7.97380443e-02 -1.90014176e-01 6.57991258e+01] [ 7.89245102e-02 9.96810075e-01 -1.18573257e-02 1.56399026e+00] [ 1.90353525e-01 -3.39393296e-03 9.81709742e-01 2.27768733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06863999999999 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:65.85, Y:1.59, Z:2.30 [[ 9.81116345e-01 -3.61398203e-02 -1.90012185e-01 6.58528513e+01] [ 3.45083001e-02 9.99333691e-01 -1.18891467e-02 1.58768847e+00] [ 1.90315250e-01 5.10763869e-03 9.81709742e-01 2.30212033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.12863999999999 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:65.91, Y:1.60, Z:2.31 [[ 9.81200772e-01 -3.38021352e-02 -1.90006475e-01 6.59092327e+01] [ 3.21096896e-02 9.99412554e-01 -1.19797291e-02 1.59852240e+00] [ 1.90299797e-01 5.65347049e-03 9.81709746e-01 2.31424919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.18863999999999 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:65.97, Y:1.61, Z:2.33 [[ 9.81185899e-01 -3.42667652e-02 -1.90000054e-01 6.59654188e+01] [ 3.25634027e-02 9.99396658e-01 -1.20807283e-02 1.60719104e+00] [ 1.90299386e-01 5.66639201e-03 9.81709751e-01 2.32706447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.24864 meters Centerline goodness : 0.997688 with order 1 Centerline is valid? [True, True] Translation: X:66.02, Y:1.61, Z:2.34 [[ 9.80887735e-01 -4.19729034e-02 -1.89993491e-01 6.60220509e+01] [ 4.03928207e-02 9.99109600e-01 -1.21830927e-02 1.61262335e+00] [ 1.90335680e-01 4.27587315e-03 9.81709756e-01 2.34084089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30863999999998 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:66.08, Y:1.62, Z:2.35 [[ 9.80392748e-01 -5.22948243e-02 -1.89987658e-01 6.60811834e+01] [ 5.08891242e-02 9.98628890e-01 -1.22733973e-02 1.61684686e+00] [ 1.90368999e-01 2.36444416e-03 9.81709760e-01 2.34860323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36863999999998 meters Centerline goodness : 0.998625 with order 1 Centerline is valid? [True, True] Translation: X:66.14, Y:1.62, Z:2.36 [[ 9.79997729e-01 -5.92407289e-02 -1.89986809e-01 6.61387696e+01] [ 5.79617450e-02 9.98243196e-01 -1.22865166e-02 1.61694071e+00] [ 1.90380902e-01 1.02879133e-03 9.81709760e-01 2.35857512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42863999999999 meters Centerline goodness : 0.997986 with order 1 Centerline is valid? [True, True] Translation: X:66.20, Y:1.61, Z:2.37 [[ 9.79194875e-01 -7.13066407e-02 -1.89980947e-01 6.61961376e+01] [ 7.02350186e-02 9.97453690e-01 -1.23765130e-02 1.61178417e+00] [ 1.90379725e-01 -1.22429723e-03 9.81709764e-01 2.37202570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48863999999999 meters Centerline goodness : 0.997592 with order 1 Centerline is valid? [True, True] Translation: X:66.25, Y:1.60, Z:2.39 [[ 9.78427825e-01 -8.11692855e-02 -1.89975097e-01 6.62534287e+01] [ 8.02643837e-02 9.96695658e-01 -1.24656765e-02 1.59991378e+00] [ 1.90359185e-01 -3.05146940e-03 9.81709768e-01 2.38503105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54863999999999 meters Centerline goodness : 0.998033 with order 1 Centerline is valid? [True, True] Translation: X:66.31, Y:1.60, Z:2.39 [[ 9.78237401e-01 -8.34374751e-02 -1.89973092e-01 6.63119610e+01] [ 8.25690093e-02 9.96507002e-01 -1.24961653e-02 1.59642666e+00] [ 1.90352165e-01 -3.46167376e-03 9.81709769e-01 2.39377070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60864 meters Centerline goodness : 0.998278 with order 1 Centerline is valid? [True, True] Translation: X:66.37, Y:1.59, Z:2.40 [[ 9.78629723e-01 -7.87160797e-02 -1.89967484e-01 6.63710976e+01] [ 7.77430284e-02 9.96894048e-01 -1.25808534e-02 1.58510272e+00] [ 1.90367770e-01 -2.45665044e-03 9.81709772e-01 2.40301918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66863999999998 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:66.43, Y:1.58, Z:2.41 [[ 9.78974689e-01 -7.43173131e-02 -1.89961827e-01 6.64292280e+01] [ 7.32457271e-02 9.97233495e-01 -1.26657082e-02 1.58125109e+00] [ 1.90377578e-01 -1.51448444e-03 9.81709776e-01 2.41198268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72863999999998 meters Centerline goodness : 0.997885 with order 1 Centerline is valid? [True, True] Translation: X:66.49, Y:1.58, Z:2.43 [[ 9.79502623e-01 -6.70173573e-02 -1.89956008e-01 6.64867838e+01] [ 6.57928773e-02 9.97751810e-01 -1.27523930e-02 1.57561442e+00] [ 1.90383583e-01 -6.74997029e-06 9.81709780e-01 2.42561386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78863999999999 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:66.54, Y:1.58, Z:2.44 [[ 9.80072025e-01 -5.81192434e-02 -1.89949941e-01 6.65447518e+01] [ 5.67116897e-02 9.98308000e-01 -1.28421470e-02 1.57588256e+00] [ 1.90374922e-01 1.81384688e-03 9.81709784e-01 2.43644033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84863999999999 meters Centerline goodness : 0.985146 with order 1 Centerline is valid? [True, True] Translation: X:66.61, Y:1.55, Z:2.42 [[ 9.74548065e-01 -1.19068905e-01 -1.89943844e-01 6.66099306e+01] [ 1.18782855e-01 9.92836041e-01 -1.29317089e-02 1.55045163e+00] [ 1.90122859e-01 -9.95950021e-03 9.81709788e-01 2.42451786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90863999999999 meters Centerline goodness : 0.774779 with order 3 Centerline is valid? [True, False] Translation: X:66.57, Y:1.56, Z:2.42 [[ 9.77070805e-01 -1.14814857e-01 -1.79304741e-01 6.65749032e+01] [ 1.10145954e-01 9.93269940e-01 -3.58147260e-02 1.56476343e+00] [ 1.82210072e-01 1.52438314e-02 9.83141452e-01 2.42210050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96864 meters Centerline goodness : 0.997343 with order 1 Centerline is valid? [False, True] Translation: X:66.53, Y:1.58, Z:2.42 [[ 9.80460584e-01 -1.06522901e-01 -1.65378098e-01 6.65323201e+01] [ 9.85694246e-02 9.93575683e-01 -5.56006442e-02 1.57645818e+00] [ 1.70238398e-01 3.82130162e-02 9.84661695e-01 2.41910349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02863999999998 meters Centerline goodness : 0.836373 with order 3 Centerline is valid? [True, False] Translation: X:66.50, Y:1.58, Z:2.41 [[ 9.82549980e-01 -9.94003448e-02 -1.57210398e-01 6.65026500e+01] [ 9.14735399e-02 9.94180806e-01 -5.68956649e-02 1.57659372e+00] [ 1.61951008e-01 4.15222428e-02 9.85924832e-01 2.41359418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08863999999998 meters Centerline goodness : 0.894336 with order 1 Centerline is valid? [False, False] Translation: X:66.45, Y:1.58, Z:2.41 [[ 9.85358658e-01 -9.56316437e-02 -1.41148515e-01 6.64498886e+01] [ 8.74849521e-02 9.94181225e-01 -6.28496146e-02 1.57988429e+00] [ 1.46337615e-01 4.95810409e-02 9.87991408e-01 2.40814848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14863999999999 meters Centerline goodness : 0.904224 with order 3 Centerline is valid? [False, False] Translation: X:66.37, Y:1.59, Z:2.40 [[ 0.98840129 -0.09547938 -0.1180956 66.36937837] [ 0.08625411 0.99298192 -0.08091437 1.59314321] [ 0.12499245 0.06978964 0.9897001 2.40282299] [ 0. 0. 0. 1. ]] SLAMing on 73.20863999999999 meters Centerline goodness : 0.998476 with order 1 Centerline is valid? [False, True] Translation: X:66.36, Y:1.60, Z:2.41 [[ 0.98875957 -0.09299124 -0.1170775 66.3632275 ] [ 0.08406092 0.99332072 -0.07904241 1.5959917 ] [ 0.12364576 0.0683123 0.9899723 2.40574277] [ 0. 0. 0. 1. ]] SLAMing on 73.26863999999999 meters Centerline goodness : 0.996904 with order 1 Centerline is valid? [True, True] Translation: X:66.43, Y:1.55, Z:2.40 [[ 9.87661919e-01 -9.45066682e-02 -1.24869629e-01 6.64292295e+01] [ 9.34158452e-02 9.95520483e-01 -1.45756105e-02 1.54659576e+00] [ 1.25687765e-01 2.73097350e-03 9.92066090e-01 2.40487927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32864 meters Centerline goodness : 0.998182 with order 1 Centerline is valid? [True, True] Translation: X:66.49, Y:1.56, Z:2.41 [[ 9.87720171e-01 -9.39044387e-02 -1.24863208e-01 6.64859485e+01] [ 9.28018999e-02 9.95577098e-01 -1.46304120e-02 1.55942760e+00] [ 1.25684811e-01 2.86321017e-03 9.92066092e-01 2.41211813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38864 meters Centerline goodness : 0.998476 with order 1 Centerline is valid? [True, True] Translation: X:66.55, Y:1.57, Z:2.42 [[ 9.87384612e-01 -9.73783365e-02 -1.24856266e-01 6.65455787e+01] [ 9.62959844e-02 9.95244344e-01 -1.46894146e-02 1.56709945e+00] [ 1.25692923e-01 2.48094489e-03 9.92066094e-01 2.41521876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44863999999998 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:66.60, Y:1.57, Z:2.42 [[ 9.86519373e-01 -1.05785469e-01 -1.24855763e-01 6.66036011e+01] [ 1.04769566e-01 9.94387969e-01 -1.46936889e-02 1.57089391e+00] [ 1.25709448e-01 1.41452465e-03 9.92066094e-01 2.42300429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.50863999999999 meters Centerline goodness : 0.997780 with order 1 Centerline is valid? [True, True] Translation: X:66.66, Y:1.58, Z:2.43 [[ 9.86209353e-01 -1.08645755e-01 -1.24848759e-01 6.66620069e+01] [ 1.07645170e-01 9.94079910e-01 -1.47529661e-02 1.57705658e+00] [ 1.25712490e-01 1.11014733e-03 9.92066095e-01 2.42895359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56863999999999 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:66.72, Y:1.58, Z:2.44 [[ 9.85781406e-01 -1.12470075e-01 -1.24841909e-01 6.67206861e+01] [ 1.11492711e-01 9.93654879e-01 -1.48107057e-02 1.58047492e+00] [ 1.25715533e-01 6.81155390e-04 9.92066097e-01 2.43534014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.62863999999999 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:66.78, Y:1.58, Z:2.44 [[ 9.85109360e-01 -1.18219257e-01 -1.24834912e-01 6.67787685e+01] [ 1.17280401e-01 9.92987516e-01 -1.48694473e-02 1.58207659e+00] [ 1.25717365e-01 7.34318783e-06 9.92066099e-01 2.44145338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68863999999999 meters Centerline goodness : 0.997293 with order 1 Centerline is valid? [True, True] Translation: X:66.84, Y:1.58, Z:2.45 [[ 9.84476612e-01 -1.23385788e-01 -1.24826872e-01 6.68371030e+01] [ 1.22479755e-01 9.92358608e-01 -1.49366447e-02 1.57832558e+00] [ 1.25715990e-01 -5.83987322e-04 9.92066101e-01 2.45205615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74864 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:66.90, Y:1.59, Z:2.44 [[ 9.87811157e-01 -9.30005949e-02 -1.24819896e-01 6.68963997e+01] [ 9.18448556e-02 9.95660425e-01 -1.49947142e-02 1.58723244e+00] [ 1.25672748e-01 3.34788064e-03 9.92066103e-01 2.44285375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80863999999998 meters Centerline goodness : 0.997875 with order 1 Centerline is valid? [True, True] Translation: X:66.95, Y:1.58, Z:2.47 [[ 9.84500138e-01 -1.23211855e-01 -1.24813130e-01 6.69537053e+01] [ 1.22289953e-01 9.92380290e-01 -1.50508253e-02 1.57762131e+00] [ 1.25716530e-01 -4.45852217e-04 9.92066104e-01 2.46618385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.86863999999998 meters Centerline goodness : 0.996950 with order 1 Centerline is valid? [True, True] Translation: X:67.01, Y:1.58, Z:2.48 [[ 9.84835240e-01 -1.20506656e-01 -1.24810641e-01 6.70129011e+01] [ 1.19560496e-01 9.92712516e-01 -1.50714412e-02 1.57526333e+00] [ 1.25717294e-01 -7.95356478e-05 9.92066104e-01 2.47519768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92863999999999 meters Centerline goodness : 0.995472 with order 1 Centerline is valid? [True, True] Translation: X:67.07, Y:1.57, Z:2.48 [[ 9.85068036e-01 -1.18595585e-01 -1.24804053e-01 6.70717041e+01] [ 1.17627256e-01 9.92942616e-01 -1.51257995e-02 1.57372257e+00] [ 1.25717116e-01 2.19583426e-04 9.92066106e-01 2.48458356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98863999999999 meters Centerline goodness : 0.998030 with order 1 Centerline is valid? [True, True] Translation: X:67.13, Y:1.58, Z:2.49 [[ 9.85538231e-01 -1.14630425e-01 -1.24796880e-01 6.71313191e+01] [ 1.13622949e-01 9.93407896e-01 -1.51847491e-02 1.57820965e+00] [ 1.25714841e-01 7.85361177e-04 9.92066108e-01 2.48833074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04863999999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:67.19, Y:1.58, Z:2.47 [[ 9.85632304e-01 -1.13819829e-01 -1.24795864e-01 6.71924390e+01] [ 1.12804823e-01 9.93501002e-01 -1.51930972e-02 1.58100338e+00] [ 1.25714092e-01 8.97231981e-04 9.92066108e-01 2.47483185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.10864 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:67.25, Y:1.59, Z:2.50 [[ 9.86352157e-01 -1.07411425e-01 -1.24788650e-01 6.72482895e+01] [ 1.06337834e-01 9.94213075e-01 -1.52521177e-02 1.58663161e+00] [ 1.25704760e-01 1.77420439e-03 9.92066109e-01 2.49980228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16863999999998 meters Centerline goodness : 0.998179 with order 1 Centerline is valid? [True, True] Translation: X:67.31, Y:1.60, Z:2.51 [[ 9.86609878e-01 -1.05025732e-01 -1.24781989e-01 6.73059138e+01] [ 1.03926267e-01 9.94467216e-01 -1.53064239e-02 1.59604379e+00] [ 1.25699166e-01 2.13334264e-03 9.92066111e-01 2.50970429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22863999999998 meters Centerline goodness : 0.938213 with order 1 Centerline is valid? [True, False] Translation: X:67.26, Y:1.62, Z:2.51 [[ 9.88823056e-01 -9.89005918e-02 -1.11568982e-01 6.72639385e+01] [ 9.48822704e-02 9.94652807e-01 -4.07817180e-02 1.62273710e+00] [ 1.15005737e-01 2.97399847e-02 9.92919540e-01 2.50948838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28863999999999 meters Centerline goodness : 0.998031 with order 1 Centerline is valid? [False, True] Translation: X:67.22, Y:1.65, Z:2.51 [[ 9.90840096e-01 -9.25222774e-02 -9.83642815e-02 6.72191853e+01] [ 8.61934481e-02 9.94039104e-01 -6.67603857e-02 1.64638661e+00] [ 1.03954765e-01 5.76705104e-02 9.92908616e-01 2.51117285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34863999999999 meters Centerline goodness : 0.998474 with order 1 Centerline is valid? [True, True] Translation: X:67.28, Y:1.61, Z:2.51 [[ 9.90642704e-01 -8.74683501e-02 -1.04767940e-01 6.72833274e+01] [ 8.66945796e-02 9.96163555e-01 -1.19256879e-02 1.61006751e+00] [ 1.05409124e-01 2.73128322e-03 9.94425189e-01 2.50889985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40863999999999 meters Centerline goodness : 0.998181 with order 1 Centerline is valid? [True, True] Translation: X:67.34, Y:1.62, Z:2.52 [[ 9.90178277e-01 -9.25841901e-02 -1.04762338e-01 6.73397094e+01] [ 9.18337636e-02 9.95702348e-01 -1.19747012e-02 1.62305824e+00] [ 1.05420774e-01 2.23636926e-03 9.94425190e-01 2.51643948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46864 meters Centerline goodness : 0.997295 with order 1 Centerline is valid? [True, True] Translation: X:67.40, Y:1.64, Z:2.52 [[ 9.89623584e-01 -9.83430871e-02 -1.04755906e-01 6.73964809e+01] [ 9.76188835e-02 9.95151152e-01 -1.20307026e-02 1.63680817e+00] [ 1.05431097e-01 1.67971236e-03 9.94425192e-01 2.52374538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52863999999998 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:67.46, Y:1.64, Z:2.52 [[ 9.87304020e-01 -1.19407595e-01 -1.04750175e-01 6.74555836e+01] [ 1.18796064e-01 9.92845184e-01 -1.20804037e-02 1.64163722e+00] [ 1.05443198e-01 -5.16877337e-04 9.94425193e-01 2.51975830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58863999999998 meters Centerline goodness : 0.998081 with order 1 Centerline is valid? [True, True] Translation: X:67.51, Y:1.66, Z:2.54 [[ 9.88527392e-01 -1.08821965e-01 -1.04744331e-01 6.75117208e+01] [ 1.08145750e-01 9.94061034e-01 -1.21308600e-02 1.65578746e+00] [ 1.05442362e-01 6.64033130e-04 9.94425194e-01 2.53775959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64863999999999 meters Centerline goodness : 0.997391 with order 1 Centerline is valid? [True, True] Translation: X:67.57, Y:1.66, Z:2.54 [[ 9.88199546e-01 -1.11765295e-01 -1.04738611e-01 6.75701293e+01] [ 1.11100349e-01 9.93734552e-01 -1.21800490e-02 1.66123358e+00] [ 1.05443684e-01 3.99822644e-04 9.94425196e-01 2.54477016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:67.63, Y:1.67, Z:2.53 [[ 9.87528026e-01 -1.17556045e-01 -1.04732875e-01 6.76307331e+01] [ 1.16918345e-01 9.93066235e-01 -1.22291732e-02 1.66733424e+00] [ 1.05444295e-01 -1.68543209e-04 9.94425197e-01 2.52850602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:67.69, Y:1.67, Z:2.53 [[ 9.87743175e-01 -1.15739571e-01 -1.04727131e-01 6.76889071e+01] [ 1.15086492e-01 9.93279591e-01 -1.22781700e-02 1.67288785e+00] [ 1.05444392e-01 7.50005068e-05 9.94425198e-01 2.53459862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82864 meters Centerline goodness : 0.998477 with order 1 Centerline is valid? [True, True] Translation: X:67.75, Y:1.68, Z:2.56 [[ 9.88153241e-01 -1.12189931e-01 -1.04721500e-01 6.77455225e+01] [ 1.11511893e-01 9.93686654e-01 -1.23260098e-02 1.67817254e+00] [ 1.05443212e-01 5.02293780e-04 9.94425199e-01 2.56127442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88864 meters Centerline goodness : 0.995622 with order 1 Centerline is valid? [True, True] Translation: X:67.80, Y:1.68, Z:2.58 [[ 9.87732034e-01 -1.15841266e-01 -1.04719772e-01 6.78042385e+01] [ 1.15182129e-01 9.93267731e-01 -1.23406741e-02 1.68245666e+00] [ 1.05444330e-01 1.27432801e-04 9.94425199e-01 2.57743634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.94863999999998 meters Centerline goodness : 0.995910 with order 1 Centerline is valid? [True, True] Translation: X:67.86, Y:1.69, Z:2.58 [[ 9.87823161e-01 -1.15062094e-01 -1.04719233e-01 6.78642533e+01] [ 1.14398106e-01 9.93358278e-01 -1.23452475e-02 1.69030856e+00] [ 1.05444187e-01 2.15239465e-04 9.94425199e-01 2.57979727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00863999999999 meters Centerline goodness : 0.996358 with order 1 Centerline is valid? [True, True] Translation: X:67.92, Y:1.70, Z:2.58 [[ 9.88270194e-01 -1.11157126e-01 -1.04719233e-01 6.79219540e+01] [ 1.10471268e-01 9.93802643e-01 -1.23452475e-02 1.69816664e+00] [ 1.05442513e-01 6.31973742e-04 9.94425199e-01 2.58499844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06863999999999 meters Centerline goodness : 0.997934 with order 1 Centerline is valid? [True, True] Translation: X:67.98, Y:1.71, Z:2.58 [[ 9.88672149e-01 -1.07529007e-01 -1.04713387e-01 6.79807919e+01] [ 1.06817616e-01 9.94201373e-01 -1.23946348e-02 1.70579048e+00] [ 1.05438976e-01 1.06899578e-03 9.94425201e-01 2.58454254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12863999999999 meters Centerline goodness : 0.997686 with order 1 Centerline is valid? [True, True] Translation: X:68.04, Y:1.71, Z:2.59 [[ 9.88522880e-01 -1.08893890e-01 -1.04712162e-01 6.80382565e+01] [ 1.08189039e-01 9.94052940e-01 -1.24049759e-02 1.71246584e+00] [ 1.05440259e-01 9.33894332e-04 9.94425201e-01 2.59092603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18863999999999 meters Centerline goodness : 0.997638 with order 1 Centerline is valid? [True, True] Translation: X:68.10, Y:1.72, Z:2.60 [[ 9.88432345e-01 -1.09719005e-01 -1.04705490e-01 6.80963289e+01] [ 1.09012831e-01 9.93962235e-01 -1.24610406e-02 1.72031647e+00] [ 1.05440516e-01 9.02653705e-04 9.94425202e-01 2.59656368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24864 meters Centerline goodness : 0.997048 with order 1 Centerline is valid? [True, True] Translation: X:68.15, Y:1.73, Z:2.61 [[ 9.88415867e-01 -1.09872907e-01 -1.04699660e-01 6.81542265e+01] [ 1.09162425e-01 9.93945204e-01 -1.25098382e-02 1.72756865e+00] [ 1.05440217e-01 9.35653822e-04 9.94425203e-01 2.60592360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30863999999998 meters Centerline goodness : 0.997685 with order 1 Centerline is valid? [True, True] Translation: X:68.21, Y:1.74, Z:2.61 [[ 9.88720846e-01 -1.07099568e-01 -1.04693701e-01 6.82106367e+01] [ 1.06368317e-01 9.94247474e-01 -1.25595125e-02 1.74000774e+00] [ 1.05436566e-01 1.28175903e-03 9.94425205e-01 2.60969050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.36863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:68.27, Y:1.75, Z:2.59 [[ 9.89073399e-01 -1.03800016e-01 -1.04686997e-01 6.82701825e+01] [ 1.03044443e-01 9.94596753e-01 -1.26151430e-02 1.75346603e+00] [ 1.05430800e-01 1.68988903e-03 9.94425206e-01 2.59314225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:68.33, Y:1.76, Z:2.60 [[ 9.89242010e-01 -1.02182351e-01 -1.04685307e-01 6.83265456e+01] [ 1.01416264e-01 9.94763915e-01 -1.26291520e-02 1.76408972e+00] [ 1.05427643e-01 1.87649493e-03 9.94425206e-01 2.59996464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48863999999999 meters Centerline goodness : 0.997443 with order 1 Centerline is valid? [True, True] Translation: X:68.38, Y:1.78, Z:2.63 [[ 9.89160434e-01 -1.02975853e-01 -1.04678598e-01 6.83809362e+01] [ 1.02208338e-01 9.94682139e-01 -1.26845241e-02 1.77608590e+00] [ 1.05428131e-01 1.84800391e-03 9.94425208e-01 2.63036448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.54863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:68.44, Y:1.79, Z:2.61 [[ 9.88788985e-01 -1.06489227e-01 -1.04672762e-01 6.84405067e+01] [ 1.05736255e-01 9.94312691e-01 -1.27325009e-02 1.78641454e+00] [ 1.05433330e-01 1.52205079e-03 9.94425209e-01 2.61266392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60864 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:68.50, Y:1.80, Z:2.62 [[ 9.88267891e-01 -1.11227822e-01 -1.04665887e-01 6.84980800e+01] [ 1.10495378e-01 9.93794354e-01 -1.27887659e-02 1.79501842e+00] [ 1.05438834e-01 1.07362985e-03 9.94425211e-01 2.61950891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66863999999998 meters Centerline goodness : 0.998524 with order 1 Centerline is valid? [True, True] Translation: X:68.55, Y:1.80, Z:2.65 [[ 9.87923108e-01 -1.14255181e-01 -1.04659858e-01 6.85538885e+01] [ 1.13534466e-01 9.93451113e-01 -1.28379179e-02 1.80101220e+00] [ 1.05441251e-01 8.00374634e-04 9.94425212e-01 2.64638032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72863999999998 meters Centerline goodness : 0.998227 with order 1 Centerline is valid? [True, True] Translation: X:68.61, Y:1.81, Z:2.66 [[ 9.87641079e-01 -1.16673363e-01 -1.04653837e-01 6.86115385e+01] [ 1.15961001e-01 9.93170165e-01 -1.28868178e-02 1.80830903e+00] [ 1.05442617e-01 5.91786974e-04 9.94425213e-01 2.65568258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78863999999999 meters Centerline goodness : 0.998081 with order 1 Centerline is valid? [True, True] Translation: X:68.67, Y:1.81, Z:2.66 [[ 9.87570117e-01 -1.17277828e-01 -1.04647859e-01 6.86696826e+01] [ 1.16563725e-01 9.93098977e-01 -1.29351839e-02 1.81484555e+00] [ 1.05442692e-01 5.76256812e-04 9.94425214e-01 2.66235298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84863999999999 meters Centerline goodness : 0.994594 with order 1 Centerline is valid? [True, True] Translation: X:68.73, Y:1.82, Z:2.68 [[ 9.87785046e-01 -1.15459069e-01 -1.04641802e-01 6.87274809e+01] [ 1.14729615e-01 9.93311900e-01 -1.29839963e-02 1.82414490e+00] [ 1.05441067e-01 8.19883735e-04 9.94425215e-01 2.67616152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90863999999999 meters Centerline goodness : 0.998374 with order 1 Centerline is valid? [True, True] Translation: X:68.79, Y:1.83, Z:2.67 [[ 9.88047444e-01 -1.13192050e-01 -1.04641334e-01 6.87874865e+01] [ 1.12449516e-01 9.93572556e-01 -1.29877709e-02 1.83455966e+00] [ 1.05438870e-01 1.06566652e-03 9.94425215e-01 2.67262753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96864 meters Centerline goodness : 0.786424 with order 3 Centerline is valid? [True, False] Translation: X:68.79, Y:1.87, Z:2.68 [[ 9.87943132e-01 -1.08018713e-01 -1.10906833e-01 6.87878088e+01] [ 1.03087478e-01 9.93450260e-01 -4.92904916e-02 1.86709691e+00] [ 1.15504717e-01 3.72630970e-02 9.92607738e-01 2.68304155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02863999999998 meters Centerline goodness : 0.998125 with order 1 Centerline is valid? [False, True] Translation: X:68.77, Y:1.89, Z:2.69 [[ 9.88688711e-01 -1.01514140e-01 -1.10406127e-01 6.87709204e+01] [ 9.35886499e-02 9.92800614e-01 -7.47536294e-02 1.88846226e+00] [ 1.17199821e-01 6.35753091e-02 9.91071330e-01 2.68675821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08863999999998 meters Centerline goodness : 0.995135 with order 1 Centerline is valid? [True, True] Translation: X:68.84, Y:1.86, Z:2.67 [[ 9.90677088e-01 -6.92574467e-02 -1.17312883e-01 6.88365077e+01] [ 6.82489057e-02 9.97588791e-01 -1.25972977e-02 1.85983273e+00] [ 1.17902473e-01 4.47337837e-03 9.93015103e-01 2.66933378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14863999999999 meters Centerline goodness : 0.996163 with order 1 Centerline is valid? [True, True] Translation: X:68.89, Y:1.85, Z:2.69 [[ 9.87486189e-01 -1.05398831e-01 -1.17312032e-01 6.88943518e+01] [ 1.04642494e-01 9.94430016e-01 -1.26052195e-02 1.85103323e+00] [ 1.17987181e-01 1.71656595e-04 9.93015103e-01 2.69072727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20863999999999 meters Centerline goodness : 0.991499 with order 1 Centerline is valid? [True, True] Translation: X:68.95, Y:1.88, Z:2.68 [[ 9.91311338e-01 -5.94988042e-02 -1.17310372e-01 6.89526488e+01] [ 5.84194959e-02 9.98212343e-01 -1.26206417e-02 1.88068029e+00] [ 1.17851575e-01 5.65777236e-03 9.93015104e-01 2.67629654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26863999999999 meters Centerline goodness : 0.996165 with order 1 Centerline is valid? [True, True] Translation: X:69.01, Y:1.86, Z:2.70 [[ 9.87307258e-01 -1.07065147e-01 -1.17309130e-01 6.90115629e+01] [ 1.06317326e-01 9.94252007e-01 -1.26321782e-02 1.86169255e+00] [ 1.17987304e-01 -1.51833875e-07 9.93015104e-01 2.70426810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32864 meters Centerline goodness : 0.997886 with order 1 Centerline is valid? [True, True] Translation: X:69.07, Y:1.87, Z:2.69 [[ 9.87151104e-01 -1.08496358e-01 -1.17308306e-01 6.90726684e+01] [ 1.07757697e-01 9.94096833e-01 -1.26398254e-02 1.86578531e+00] [ 1.17987191e-01 -1.63455269e-04 9.93015104e-01 2.68571046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38863999999998 meters Centerline goodness : 0.982711 with order 1 Centerline is valid? [True, True] Translation: X:69.13, Y:1.89, Z:2.70 [[ 9.92094249e-01 -4.45997344e-02 -1.17302451e-01 6.91284229e+01] [ 4.34082435e-02 9.98976771e-01 -1.26939366e-02 1.89436576e+00] [ 1.17748570e-01 7.50168812e-03 9.93015105e-01 2.69866405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44863999999998 meters Centerline goodness : 0.997787 with order 1 Centerline is valid? [True, True] Translation: X:69.19, Y:1.86, Z:2.70 [[ 9.86309205e-01 -1.15906789e-01 -1.17302043e-01 6.91910664e+01] [ 1.15213428e-01 9.93259601e-01 -1.26977023e-02 1.86498698e+00] [ 1.17983130e-01 -9.90909876e-04 9.93015105e-01 2.70022480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50863999999999 meters Centerline goodness : 0.993101 with order 1 Centerline is valid? [True, True] Translation: X:69.25, Y:1.86, Z:2.74 [[ 9.86167121e-01 -1.17115486e-01 -1.17296091e-01 6.92479937e+01] [ 1.16424132e-01 9.93117715e-01 -1.27524484e-02 1.85833534e+00] [ 1.17982335e-01 -1.08005031e-03 9.93015107e-01 2.73766965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56863999999999 meters Centerline goodness : 0.993164 with order 1 Centerline is valid? [True, True] Translation: X:69.31, Y:1.86, Z:2.74 [[ 9.86599022e-01 -1.13419933e-01 -1.17295734e-01 6.93072695e+01] [ 1.12702153e-01 9.93546937e-01 -1.27557316e-02 1.85559115e+00] [ 1.17985572e-01 -6.34689487e-04 9.93015107e-01 2.74360740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62863999999999 meters Centerline goodness : 0.836979 with order 3 Centerline is valid? [True, False] Translation: X:69.32, Y:1.87, Z:2.75 [[ 9.87923419e-01 -9.66506272e-02 -1.21103156e-01 6.93207618e+01] [ 9.31240780e-02 9.95057910e-01 -3.44624672e-02 1.87227674e+00] [ 1.23835472e-01 2.27686587e-02 9.92041513e-01 2.74640966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68863999999999 meters Centerline goodness : 0.997638 with order 1 Centerline is valid? [False, True] Translation: X:69.34, Y:1.88, Z:2.75 [[ 9.88345854e-01 -8.36414860e-02 -1.27187163e-01 6.93350916e+01] [ 7.88660158e-02 9.95994206e-01 -4.21389674e-02 1.87534696e+00] [ 1.30202244e-01 3.16171289e-02 9.90983215e-01 2.74675145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74864 meters Centerline goodness : 0.995325 with order 1 Centerline is valid? [True, True] Translation: X:69.39, Y:1.85, Z:2.77 [[ 9.88663798e-01 -7.52883126e-02 -1.29905982e-01 6.93942542e+01] [ 7.44741497e-02 9.97160933e-01 -1.11208762e-02 1.85405797e+00] [ 1.30374442e-01 1.32017018e-03 9.91463949e-01 2.77270877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80863999999998 meters Centerline goodness : 0.995470 with order 1 Centerline is valid? [True, True] Translation: X:69.45, Y:1.86, Z:2.78 [[ 9.88936018e-01 -7.16258158e-02 -1.29904947e-01 6.94521455e+01] [ 7.07785987e-02 9.97429921e-01 -1.11329579e-02 1.86210726e+00] [ 1.30368488e-01 1.81529297e-03 9.91463949e-01 2.78055283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86863999999998 meters Centerline goodness : 0.996600 with order 1 Centerline is valid? [True, True] Translation: X:69.51, Y:1.87, Z:2.78 [[ 9.89004093e-01 -7.06850113e-02 -1.29902012e-01 6.95100369e+01] [ 6.98252312e-02 9.97496733e-01 -1.11670973e-02 1.87024630e+00] [ 1.30366179e-01 1.97386688e-03 9.91463950e-01 2.78386177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92863999999999 meters Centerline goodness : 0.996309 with order 1 Centerline is valid? [True, True] Translation: X:69.57, Y:1.88, Z:2.79 [[ 9.88984302e-01 -7.09648663e-02 -1.29900109e-01 6.95663212e+01] [ 7.01045879e-02 9.97476891e-01 -1.11891925e-02 1.88035431e+00] [ 1.30366396e-01 1.95934209e-03 9.91463950e-01 2.79445343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98863999999999 meters Centerline goodness : 0.994243 with order 1 Centerline is valid? [True, True] Translation: X:69.62, Y:1.89, Z:2.80 [[ 9.88902473e-01 -7.21071460e-02 -1.29894026e-01 6.96224673e+01] [ 7.12474608e-02 9.97395120e-01 -1.12593742e-02 1.89171222e+00] [ 1.30367549e-01 1.87980351e-03 9.91463952e-01 2.80222292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04863999999999 meters Centerline goodness : 0.993554 with order 1 Centerline is valid? [True, True] Translation: X:69.68, Y:1.90, Z:2.81 [[ 9.88885092e-01 -7.23561513e-02 -1.29887886e-01 6.96798621e+01] [ 7.14893605e-02 9.97377014e-01 -1.13297656e-02 1.90275332e+00] [ 1.30366970e-01 1.91823440e-03 9.91463955e-01 2.80894750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10864 meters Centerline goodness : 0.994226 with order 1 Centerline is valid? [True, True] Translation: X:69.74, Y:1.91, Z:2.81 [[ 9.88775054e-01 -7.38540111e-02 -1.29882557e-01 6.97383079e+01] [ 7.29921038e-02 9.97267471e-01 -1.13905331e-02 1.91173098e+00] [ 1.30368886e-01 1.78227394e-03 9.91463957e-01 2.81348997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16863999999998 meters Centerline goodness : 0.992816 with order 1 Centerline is valid? [True, True] Translation: X:69.80, Y:1.92, Z:2.82 [[ 9.88511405e-01 -7.73117458e-02 -1.29877231e-01 6.97953518e+01] [ 7.64716095e-02 9.97006002e-01 -1.14509406e-02 1.91982600e+00] [ 1.30373671e-01 1.38746444e-03 9.91463958e-01 2.82132981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22863999999998 meters Centerline goodness : 0.992976 with order 1 Centerline is valid? [True, True] Translation: X:69.85, Y:1.93, Z:2.84 [[ 9.88061265e-01 -8.28762325e-02 -1.29870961e-01 6.98537192e+01] [ 8.20746475e-02 9.96559584e-01 -1.15216192e-02 1.92692151e+00] [ 1.30379020e-01 7.24952250e-04 9.91463961e-01 2.83537349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28863999999999 meters Centerline goodness : 0.995917 with order 1 Centerline is valid? [True, True] Translation: X:69.91, Y:1.93, Z:2.83 [[ 9.87914654e-01 -8.46065733e-02 -1.29870570e-01 6.99149110e+01] [ 8.38192934e-02 9.96414310e-01 -1.15260305e-02 1.93323424e+00] [ 1.30380072e-01 5.01075020e-04 9.91463961e-01 2.82653013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34863999999999 meters Centerline goodness : 0.995130 with order 1 Centerline is valid? [True, True] Translation: X:69.97, Y:1.94, Z:2.85 [[ 9.87734076e-01 -8.66904322e-02 -1.29869798e-01 6.99706926e+01] [ 8.59199424e-02 9.96235270e-01 -1.15347164e-02 1.94439767e+00] [ 1.30380823e-01 2.34826885e-04 9.91463961e-01 2.84631439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40863999999999 meters Centerline goodness : 0.995918 with order 1 Centerline is valid? [True, True] Translation: X:70.03, Y:1.95, Z:2.85 [[ 9.87648407e-01 -8.76690194e-02 -1.29864419e-01 7.00284465e+01] [ 8.68990305e-02 9.96149645e-01 -1.15949663e-02 1.95133447e+00] [ 1.30380914e-01 1.66657850e-04 9.91463963e-01 2.85212002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46864 meters Centerline goodness : 0.995479 with order 1 Centerline is valid? [True, True] Translation: X:70.08, Y:1.96, Z:2.86 [[ 9.87481045e-01 -8.95422877e-02 -1.29859014e-01 7.00845425e+01] [ 8.87805060e-02 9.95983021e-01 -1.16551886e-02 1.96075599e+00] [ 1.30381006e-01 -1.96711541e-05 9.91463965e-01 2.86283143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52863999999998 meters Centerline goodness : 0.997199 with order 1 Centerline is valid? [True, True] Translation: X:70.14, Y:1.97, Z:2.86 [[ 9.87005924e-01 -9.46442726e-02 -1.29852866e-01 7.01441200e+01] [ 9.39174787e-02 9.95510960e-01 -1.17232897e-02 1.96826694e+00] [ 1.30379494e-01 -6.24497425e-04 9.91463967e-01 2.85711240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58863999999998 meters Centerline goodness : 0.994986 with order 1 Centerline is valid? [True, True] Translation: X:70.20, Y:1.97, Z:2.88 [[ 9.86410072e-01 -1.00671766e-01 -1.29847472e-01 7.02004214e+01] [ 9.99891149e-02 9.94918763e-01 -1.17827362e-02 1.97094443e+00] [ 1.30373875e-01 -1.36072412e-03 9.91463969e-01 2.87949988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64863999999999 meters Centerline goodness : 0.997045 with order 1 Centerline is valid? [True, True] Translation: X:70.26, Y:1.97, Z:2.87 [[ 9.85750262e-01 -1.06946007e-01 -1.29842104e-01 7.02602701e+01] [ 1.06309758e-01 9.94262547e-01 -1.18415971e-02 1.97236347e+00] [ 1.30363553e-01 -2.13062516e-03 9.91463970e-01 2.87256891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70863999999999 meters Centerline goodness : 0.996999 with order 1 Centerline is valid? [True, True] Translation: X:70.32, Y:1.97, Z:2.88 [[ 9.85000851e-01 -1.13647393e-01 -1.29836793e-01 7.03192637e+01] [ 1.13061413e-01 9.93516742e-01 -1.18995557e-02 1.96974010e+00] [ 1.30347381e-01 -2.95845875e-03 9.91463972e-01 2.87809161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76863999999999 meters Centerline goodness : 0.997688 with order 1 Centerline is valid? [True, True] Translation: X:70.38, Y:1.96, Z:2.88 [[ 9.84599217e-01 -1.17081891e-01 -1.29831474e-01 7.03781944e+01] [ 1.16518003e-01 9.93116598e-01 -1.19573021e-02 1.96187730e+00] [ 1.30337776e-01 -3.35455391e-03 9.91463974e-01 2.88454207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82864 meters Centerline goodness : 0.997491 with order 1 Centerline is valid? [True, True] Translation: X:70.44, Y:1.95, Z:2.89 [[ 9.84332870e-01 -1.19306048e-01 -1.29826300e-01 7.04363954e+01] [ 1.18754034e-01 9.92851027e-01 -1.20132298e-02 1.95348352e+00] [ 1.30331426e-01 -3.59237988e-03 9.91463975e-01 2.89153451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88863999999998 meters Centerline goodness : 0.996257 with order 1 Centerline is valid? [True, True] Translation: X:70.49, Y:1.95, Z:2.91 [[ 9.84797033e-01 -1.15418683e-01 -1.29820380e-01 7.04932690e+01] [ 1.14824657e-01 9.93312362e-01 -1.20768614e-02 1.95175791e+00] [ 1.30346084e-01 -3.01332340e-03 9.91463977e-01 2.91387097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94863999999998 meters Centerline goodness : 0.996409 with order 1 Centerline is valid? [True, True] Translation: X:70.55, Y:1.95, Z:2.92 [[ 9.85235369e-01 -1.11621225e-01 -1.29815138e-01 7.05519893e+01] [ 1.10986987e-01 9.93747795e-01 -1.21329582e-02 1.94960888e+00] [ 1.30357802e-01 -2.45397134e-03 9.91463979e-01 2.91976580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00863999999999 meters Centerline goodness : 0.998177 with order 1 Centerline is valid? [True, True] Translation: X:70.61, Y:1.95, Z:2.91 [[ 9.85654487e-01 -1.07864080e-01 -1.29809752e-01 7.06140029e+01] [ 1.07189840e-01 9.94163837e-01 -1.21903038e-02 1.94812477e+00] [ 1.30367057e-01 -1.89885896e-03 9.91463981e-01 2.91201939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06863999999999 meters Centerline goodness : 0.997242 with order 1 Centerline is valid? [True, True] Translation: X:70.67, Y:1.95, Z:2.93 [[ 9.86411147e-01 -1.00710358e-01 -1.29809368e-01 7.06726475e+01] [ 9.99738631e-02 9.94915335e-01 -1.21943971e-02 1.94822222e+00] [ 1.30377433e-01 -9.48854751e-04 9.91463981e-01 2.93046484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12863999999999 meters Centerline goodness : 0.998917 with order 1 Centerline is valid? [True, True] Translation: X:70.73, Y:1.95, Z:2.92 [[ 9.87638751e-01 -8.78596679e-02 -1.29809000e-01 7.07337836e+01] [ 8.70120036e-02 9.96132578e-01 -1.21983135e-02 1.95402678e+00] [ 1.30378713e-01 7.52585906e-04 9.91463981e-01 2.92374620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18863999999999 meters Centerline goodness : 0.998521 with order 1 Centerline is valid? [True, True] Translation: X:70.79, Y:1.96, Z:2.95 [[ 9.88300515e-01 -8.00745083e-02 -1.29808183e-01 7.07902064e+01] [ 7.91587989e-02 9.96787276e-01 -1.22070056e-02 1.96249972e+00] [ 1.30368615e-01 1.78873012e-03 9.91463981e-01 2.94975299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:70.85, Y:1.97, Z:2.94 [[ 9.88909051e-01 -7.21728711e-02 -1.29807420e-01 7.08513203e+01] [ 7.11882959e-02 9.97388098e-01 -1.22151141e-02 1.97275423e+00] [ 1.30349975e-01 2.83886788e-03 9.91463981e-01 2.93997869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:70.91, Y:1.99, Z:2.95 [[ 9.89175762e-01 -6.84218106e-02 -1.29806654e-01 7.09076089e+01] [ 6.74040188e-02 9.97650886e-01 -1.22232433e-02 1.98598205e+00] [ 1.30338060e-01 3.34144583e-03 9.91463981e-01 2.94593562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:70.96, Y:2.00, Z:2.97 [[ 9.88925368e-01 -7.19621257e-02 -1.29800110e-01 7.09638817e+01] [ 7.09656115e-02 9.97403018e-01 -1.22923461e-02 1.99796177e+00] [ 1.30347605e-01 2.94486868e-03 9.91463983e-01 2.96913425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.02, Y:2.01, Z:2.98 [[ 9.88952094e-01 -7.15946381e-02 -1.29799703e-01 7.10216193e+01] [ 7.05944093e-02 9.97429307e-01 -1.22966480e-02 2.00599857e+00] [ 1.30346401e-01 2.99766243e-03 9.91463983e-01 2.97671499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.08, Y:2.01, Z:2.97 [[ 9.88577189e-01 -7.66073543e-02 -1.29793897e-01 7.10825286e+01] [ 7.56421107e-02 9.97058454e-01 -1.23576305e-02 2.01392606e+00] [ 1.30358787e-01 2.39858728e-03 9.91463985e-01 2.96912143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.14, Y:2.02, Z:2.99 [[ 9.88373078e-01 -7.91979271e-02 -1.29793481e-01 7.11403418e+01] [ 7.82543409e-02 9.96856780e-01 -1.23619985e-02 2.02179990e+00] [ 1.30364556e-01 2.06136322e-03 9.91463985e-01 2.98797253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:71.20, Y:2.03, Z:3.00 [[ 9.88033935e-01 -8.33230160e-02 -1.29792979e-01 7.11982143e+01] [ 8.24141596e-02 9.96521428e-01 -1.23672668e-02 2.02744494e+00] [ 1.30371963e-01 1.52250005e-03 9.91463985e-01 2.99854960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:71.26, Y:2.03, Z:3.00 [[ 9.87552297e-01 -8.88581599e-02 -1.29787084e-01 7.12576242e+01] [ 8.79887882e-02 9.96043924e-01 -1.24288203e-02 2.02734000e+00] [ 1.30378039e-01 8.54301744e-04 9.91463987e-01 3.00198987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72863999999998 meters Centerline goodness : 0.961971 with order 3 Centerline is valid? [True, True] Translation: X:71.42, Y:2.08, Z:3.00 [[ 9.91535631e-01 3.73485634e-03 -1.29781135e-01 7.14240414e+01] [-5.40127778e-03 9.99907401e-01 -1.24906357e-02 2.08115575e+00] [ 1.29722467e-01 1.30858943e-02 9.91463989e-01 2.99730620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.78863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.38, Y:1.95, Z:2.98 [[ 9.83920889e-01 -1.14006980e-01 -1.37484880e-01 7.13799622e+01] [ 1.23354974e-01 9.90456325e-01 6.14802265e-02 1.95195253e+00] [ 1.29163594e-01 -7.74511230e-02 9.88593996e-01 2.97944925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84863999999999 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:71.43, Y:2.04, Z:3.00 [[ 9.90320384e-01 -5.19009336e-02 -1.28731624e-01 7.14263859e+01] [ 5.03434112e-02 9.98614371e-01 -1.53257749e-02 2.04034125e+00] [ 1.29348672e-01 8.69663818e-03 9.91561037e-01 3.00052920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90863999999999 meters Centerline goodness : 0.958184 with order 3 Centerline is valid? [True, True] Translation: X:71.40, Y:1.97, Z:3.00 [[ 9.65868062e-01 -2.24783021e-01 -1.28730257e-01 7.13954846e+01] [ 2.24702765e-01 9.74306644e-01 -1.53372433e-02 1.97428063e+00] [ 1.28870297e-01 -1.41122913e-02 9.91561037e-01 2.99594668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:71.52, Y:2.09, Z:3.05 [[ 9.85206444e-01 -1.19447085e-01 -1.22884727e-01 7.15174834e+01] [ 1.13062130e-01 9.91910712e-01 -5.77069609e-02 2.09246813e+00] [ 1.28783605e-01 4.29596608e-02 9.90741768e-01 3.04664875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:71.58, Y:2.06, Z:3.05 [[ 9.84903726e-01 -1.16384819e-01 -1.28137522e-01 7.15795847e+01] [ 1.15329993e-01 9.93203994e-01 -1.56466806e-02 2.06211399e+00] [ 1.29087735e-01 6.32374436e-04 9.91632975e-01 3.04869985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:71.64, Y:2.07, Z:3.06 [[ 9.84549442e-01 -1.19354015e-01 -1.28128900e-01 7.16372084e+01] [ 1.18315073e-01 9.92851711e-01 -1.57169757e-02 2.07117786e+00] [ 1.29088882e-01 3.14559499e-04 9.91632977e-01 3.05915808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.70, Y:2.08, Z:3.05 [[ 9.83985149e-01 -1.23927324e-01 -1.28121989e-01 7.16972384e+01] [ 1.22919659e-01 9.92291271e-01 -1.57731106e-02 2.07733467e+00] [ 1.29089051e-01 -2.28204745e-04 9.91632979e-01 3.05232808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.76, Y:2.08, Z:3.06 [[ 9.83756166e-01 -1.25739768e-01 -1.28114469e-01 7.17553405e+01] [ 1.24739482e-01 9.92063177e-01 -1.58339649e-02 2.08383728e+00] [ 1.29088606e-01 -4.04171731e-04 9.91632981e-01 3.06015838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.81, Y:2.09, Z:3.07 [[ 9.83341197e-01 -1.28952105e-01 -1.28107161e-01 7.18136082e+01] [ 1.27971280e-01 9.91650527e-01 -1.58928725e-02 2.08974277e+00] [ 1.29086953e-01 -7.65921134e-04 9.91632982e-01 3.06742956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.87, Y:2.09, Z:3.09 [[ 9.83751060e-01 -1.25794617e-01 -1.28099829e-01 7.18702504e+01] [ 1.24779455e-01 9.92056263e-01 -1.59517524e-02 2.09270353e+00] [ 1.29088882e-01 -2.91673514e-04 9.91632984e-01 3.08838679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:71.93, Y:2.10, Z:3.10 [[ 9.83779488e-01 -1.25579595e-01 -1.28092482e-01 7.19285968e+01] [ 1.24554964e-01 9.92083527e-01 -1.60105311e-02 2.09584923e+00] [ 1.29089038e-01 -2.03722434e-04 9.91632986e-01 3.09653069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:71.99, Y:2.10, Z:3.10 [[ 9.83826046e-01 -1.25222036e-01 -1.28084943e-01 7.19870681e+01] [ 1.24186563e-01 9.92128738e-01 -1.60706246e-02 2.10114049e+00] [ 1.29089149e-01 -9.57297367e-05 9.91632988e-01 3.10438816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:72.04, Y:2.11, Z:3.11 [[ 9.83813065e-01 -1.25331698e-01 -1.28077391e-01 7.20439555e+01] [ 1.24289344e-01 9.92114894e-01 -1.61305876e-02 2.10687953e+00] [ 1.29089161e-01 -4.91721053e-05 9.91632990e-01 3.11182112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.10, Y:2.11, Z:3.10 [[ 9.83976731e-01 -1.24049115e-01 -1.28068769e-01 7.21045920e+01] [ 1.22987067e-01 9.92276061e-01 -1.61987570e-02 2.11499360e+00] [ 1.29089015e-01 1.88397699e-04 9.91632992e-01 3.10445762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:72.16, Y:2.12, Z:3.13 [[ 9.84583575e-01 -1.19137943e-01 -1.28067692e-01 7.21601780e+01] [ 1.18033391e-01 9.92877356e-01 -1.62072646e-02 2.12467461e+00] [ 1.29086412e-01 8.41142476e-04 9.91632992e-01 3.12951524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:72.22, Y:2.13, Z:3.13 [[ 9.84411883e-01 -1.20550068e-01 -1.28066098e-01 7.22178418e+01] [ 1.19455777e-01 9.92707023e-01 -1.62198476e-02 2.13437021e+00] [ 1.29087419e-01 6.68775322e-04 9.91632992e-01 3.13248510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74864 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:72.27, Y:2.15, Z:3.14 [[ 9.84435612e-01 -1.20365514e-01 -1.28057285e-01 7.22736543e+01] [ 1.19260654e-01 9.92729349e-01 -1.62891376e-02 2.14618898e+00] [ 1.29086876e-01 7.63411560e-04 9.91632994e-01 3.14393252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:72.33, Y:2.16, Z:3.15 [[ 9.84492906e-01 -1.19905436e-01 -1.28048444e-01 7.23318250e+01] [ 1.18787700e-01 9.92784915e-01 -1.63583428e-02 2.15579412e+00] [ 1.29086018e-01 8.94092244e-04 9.91632997e-01 3.14883710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:72.39, Y:2.17, Z:3.15 [[ 9.84519787e-01 -1.19692769e-01 -1.28040735e-01 7.23899085e+01] [ 1.18565423e-01 9.92810493e-01 -1.64184660e-02 2.16721639e+00] [ 1.29085357e-01 9.83100808e-04 9.91632999e-01 3.15366257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92863999999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:72.45, Y:2.18, Z:3.17 [[ 9.84254249e-01 -1.21865240e-01 -1.28032948e-01 7.24470203e+01] [ 1.20748323e-01 9.92546365e-01 -1.64789706e-02 2.17574856e+00] [ 1.29086851e-01 7.59733183e-04 9.91633001e-01 3.16784445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.51, Y:2.16, Z:3.16 [[ 9.76680584e-01 -1.72350208e-01 -1.28025165e-01 7.25096955e+01] [ 1.71653574e-01 9.85018530e-01 -1.65392144e-02 2.16390258e+00] [ 1.28957697e-01 -5.82244761e-03 9.91633002e-01 3.15939120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.04863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.57, Y:2.19, Z:3.16 [[ 9.83266841e-01 -1.29606632e-01 -1.28017348e-01 7.25652295e+01] [ 1.28539306e-01 9.91565481e-01 -1.65995052e-02 2.19339125e+00] [ 1.29088989e-01 -1.33518006e-04 9.91633004e-01 3.16493128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:72.62, Y:2.20, Z:3.17 [[ 9.82677579e-01 -1.34008133e-01 -1.28010136e-01 7.26227121e+01] [ 1.32970757e-01 9.90980015e-01 -1.66549338e-02 2.19824963e+00] [ 1.29087384e-01 -6.55174748e-04 9.91633006e-01 3.17255998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:72.68, Y:2.20, Z:3.18 [[ 9.82030521e-01 -1.38678378e-01 -1.28001416e-01 7.26809691e+01] [ 1.37671784e-01 9.90336743e-01 -1.67216907e-02 2.20105274e+00] [ 1.29083442e-01 -1.20097261e-03 9.91633008e-01 3.18292582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:72.74, Y:2.20, Z:3.20 [[ 9.81558486e-01 -1.41987802e-01 -1.27993760e-01 7.27374533e+01] [ 1.41001597e-01 9.89867152e-01 -1.67800861e-02 2.20378107e+00] [ 1.29079387e-01 -1.57668876e-03 9.91633010e-01 3.20367054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:72.80, Y:2.21, Z:3.20 [[ 9.80916255e-01 -1.46365516e-01 -1.27986075e-01 7.27984508e+01] [ 1.45408770e-01 9.89228363e-01 -1.68385019e-02 2.20592730e+00] [ 1.29072032e-01 -2.09313758e-03 9.91633011e-01 3.19521376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34863999999999 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:72.85, Y:2.21, Z:3.22 [[ 9.80700762e-01 -1.47808641e-01 -1.27978987e-01 7.28543207e+01] [ 1.46857121e-01 9.89013468e-01 -1.68922009e-02 2.20847454e+00] [ 1.29069755e-01 -2.22843129e-03 9.91633013e-01 3.22037745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40863999999999 meters Centerline goodness : 0.990619 with order 1 Centerline is valid? [True, True] Translation: X:72.92, Y:2.18, Z:3.21 [[ 9.69420051e-01 -2.09399301e-01 -1.27971468e-01 7.29190911e+01] [ 2.08966789e-01 9.77775850e-01 -1.69489737e-02 2.17714293e+00] [ 1.28676515e-01 -1.03111118e-02 9.91633015e-01 3.21474366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.46864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:72.97, Y:2.21, Z:3.23 [[ 9.81306183e-01 -1.43747796e-01 -1.27963851e-01 7.29705546e+01] [ 1.42746997e-01 9.89613097e-01 -1.70062936e-02 2.21496655e+00] [ 1.29079320e-01 -1.57807445e-03 9.91633016e-01 3.23375601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52863999999998 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:73.03, Y:2.22, Z:3.24 [[ 9.81575309e-01 -1.41906576e-01 -1.27954825e-01 7.30288946e+01] [ 1.40881378e-01 9.89879244e-01 -1.70739368e-02 2.21603737e+00] [ 1.29082729e-01 -1.26709732e-03 9.91633019e-01 3.24233756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58863999999998 meters Centerline goodness : 0.971579 with order 1 Centerline is valid? [True, True] Translation: X:73.10, Y:2.18, Z:3.23 [[ 9.67530251e-01 -2.17978950e-01 -1.27946824e-01 7.30951552e+01] [ 2.17596240e-01 9.75888474e-01 -1.71336872e-02 2.17799885e+00] [ 1.28596614e-01 -1.12633871e-02 9.91633020e-01 3.23276683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.64863999999999 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:73.15, Y:2.22, Z:3.26 [[ 9.81298312e-01 -1.43823772e-01 -1.27938836e-01 7.31465539e+01] [ 1.42799257e-01 9.89602328e-01 -1.71931334e-02 2.21577009e+00] [ 1.29081351e-01 -1.39797783e-03 9.91633022e-01 3.26006728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.21, Y:2.22, Z:3.25 [[ 9.81148645e-01 -1.44843266e-01 -1.27936565e-01 7.32072683e+01] [ 1.43825179e-01 9.89453452e-01 -1.72100150e-02 2.22035781e+00] [ 1.29080030e-01 -1.51491637e-03 9.91633022e-01 3.24739277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76863999999999 meters Centerline goodness : 0.957000 with order 1 Centerline is valid? [True, True] Translation: X:73.26, Y:2.27, Z:3.25 [[ 9.90591175e-01 -4.86144123e-02 -1.27928738e-01 7.32606108e+01] [ 4.67850411e-02 9.98755714e-01 -1.72679986e-02 2.27031166e+00] [ 1.28609032e-01 1.11203758e-02 9.91633024e-01 3.24944416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82864 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:73.32, Y:2.24, Z:3.26 [[ 9.87296197e-01 -9.42384390e-02 -1.27927076e-01 7.33243046e+01] [ 9.27858852e-02 9.95536122e-01 -1.72803026e-02 2.23772880e+00] [ 1.28984494e-01 5.19095001e-03 9.91633024e-01 3.25688265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.38, Y:2.24, Z:3.27 [[ 9.82093589e-01 -1.38300857e-01 -1.27925978e-01 7.33827413e+01] [ 1.37217229e-01 9.90390096e-01 -1.72884250e-02 2.23876021e+00] [ 1.29087626e-01 -5.74796866e-04 9.91633024e-01 3.27034736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:73.44, Y:2.24, Z:3.28 [[ 9.81729913e-01 -1.40865987e-01 -1.27918532e-01 7.34406535e+01] [ 1.39796879e-01 9.90028303e-01 -1.73433489e-02 2.24409285e+00] [ 1.29086055e-01 -8.56127150e-04 9.91633026e-01 3.27777026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00863999999999 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:73.50, Y:2.24, Z:3.30 [[ 9.81328857e-01 -1.43640439e-01 -1.27910514e-01 7.34979046e+01] [ 1.42587111e-01 9.89629262e-01 -1.74022884e-02 2.24368205e+00] [ 1.29083659e-01 -1.16102281e-03 9.91633027e-01 3.30086034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06863999999999 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:73.56, Y:2.25, Z:3.29 [[ 9.80650955e-01 -1.48199323e-01 -1.27908818e-01 7.35586105e+01] [ 1.47182955e-01 9.88955967e-01 -1.74147418e-02 2.24578769e+00] [ 1.29077042e-01 -1.74821464e-03 9.91633027e-01 3.29259322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12863999999999 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:73.62, Y:2.25, Z:3.30 [[ 9.80680329e-01 -1.48006754e-01 -1.27906577e-01 7.36173853e+01] [ 1.46986611e-01 9.88984879e-01 -1.74311873e-02 2.24900074e+00] [ 1.29077604e-01 -1.70613175e-03 9.91633028e-01 3.30024905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18863999999999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:73.67, Y:2.25, Z:3.31 [[ 9.80963174e-01 -1.46127345e-01 -1.27898594e-01 7.36749970e+01] [ 1.45083681e-01 9.89264798e-01 -1.74895631e-02 2.24988152e+00] [ 1.29081281e-01 -1.39938150e-03 9.91633029e-01 3.30657788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24863999999998 meters Centerline goodness : 0.998080 with order 1 Centerline is valid? [True, True] Translation: X:73.73, Y:2.25, Z:3.33 [[ 9.82247815e-01 -1.37235331e-01 -1.27889378e-01 7.37323123e+01] [ 1.36107768e-01 9.90538459e-01 -1.75566983e-02 2.25177704e+00] [ 1.29088747e-01 -1.61709306e-04 9.91633032e-01 3.32812730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30863999999998 meters Centerline goodness : 0.998131 with order 1 Centerline is valid? [True, True] Translation: X:73.79, Y:2.26, Z:3.34 [[ 9.82646550e-01 -1.34352191e-01 -1.27887633e-01 7.37898509e+01] [ 1.33198650e-01 9.90933618e-01 -1.75693995e-02 2.25806276e+00] [ 1.29088643e-01 2.30049651e-04 9.91633032e-01 3.33577508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36863999999998 meters Centerline goodness : 0.997931 with order 1 Centerline is valid? [True, True] Translation: X:73.85, Y:2.27, Z:3.34 [[ 9.83150800e-01 -1.30620415e-01 -1.27878110e-01 7.38478416e+01] [ 1.29426438e-01 9.91432137e-01 -1.76384480e-02 2.26631540e+00] [ 1.29086409e-01 7.90446075e-04 9.91633034e-01 3.34456647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42863999999999 meters Centerline goodness : 0.998034 with order 1 Centerline is valid? [True, True] Translation: X:73.90, Y:2.28, Z:3.35 [[ 9.83100732e-01 -1.31004808e-01 -1.27869821e-01 7.39047703e+01] [ 1.29806279e-01 9.91381409e-01 -1.76983389e-02 2.27603688e+00] [ 1.29086330e-01 8.00944318e-04 9.91633036e-01 3.35325439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48863999999999 meters Centerline goodness : 0.997979 with order 1 Centerline is valid? [True, True] Translation: X:73.96, Y:2.29, Z:3.36 [[ 9.83013366e-01 -1.31668208e-01 -1.27860098e-01 7.39622150e+01] [ 1.30466167e-01 9.91293532e-01 -1.77683047e-02 2.28759278e+00] [ 1.29086409e-01 7.85064153e-04 9.91633038e-01 3.36090548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54863999999999 meters Centerline goodness : 0.997934 with order 1 Centerline is valid? [True, True] Translation: X:74.02, Y:2.30, Z:3.37 [[ 9.82600329e-01 -1.34723990e-01 -1.27851629e-01 7.40186445e+01] [ 1.33539797e-01 9.90883065e-01 -1.78290343e-02 2.30030779e+00] [ 1.29088013e-01 4.45534266e-04 9.91633040e-01 3.37148001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60864 meters Centerline goodness : 0.998624 with order 1 Centerline is valid? [True, True] Translation: X:74.08, Y:2.31, Z:3.36 [[ 9.81902774e-01 -1.39724998e-01 -1.27843139e-01 7.40782392e+01] [ 1.38575091e-01 9.90190337e-01 -1.78897069e-02 2.31197680e+00] [ 1.29088681e-01 -1.49921851e-04 9.91633042e-01 3.36241040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66863999999998 meters Centerline goodness : 0.993356 with order 1 Centerline is valid? [True, True] Translation: X:74.13, Y:2.35, Z:3.37 [[ 9.88447654e-01 -8.14125026e-02 -1.27840685e-01 7.41314311e+01] [ 7.97722381e-02 9.96652257e-01 -1.79072328e-02 2.35494394e+00] [ 1.28870579e-01 7.50222474e-03 9.91633042e-01 3.37039117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72863999999998 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:74.19, Y:2.33, Z:3.38 [[ 9.79522434e-01 -1.55541039e-01 -1.27838906e-01 7.41940476e+01] [ 1.54520986e-01 9.87826980e-01 -1.79199194e-02 2.33126654e+00] [ 1.29070003e-01 -2.20083074e-03 9.91633042e-01 3.37766545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78863999999999 meters Centerline goodness : 0.997735 with order 1 Centerline is valid? [True, True] Translation: X:74.25, Y:2.33, Z:3.41 [[ 9.78380647e-01 -1.62574555e-01 -1.27831227e-01 7.42496880e+01] [ 1.61607062e-01 9.86691478e-01 -1.79745325e-02 2.33414325e+00] [ 1.29052184e-01 -3.07249433e-03 9.91633044e-01 3.40541192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84863999999999 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:74.31, Y:2.34, Z:3.39 [[ 9.77378857e-01 -1.68498824e-01 -1.27822987e-01 7.43098415e+01] [ 1.67574064e-01 9.85694550e-01 -1.80329453e-02 2.33545623e+00] [ 1.29032951e-01 -3.79479789e-03 9.91633046e-01 3.39214941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90863999999999 meters Centerline goodness : 0.998132 with order 1 Centerline is valid? [True, True] Translation: X:74.37, Y:2.33, Z:3.40 [[ 9.77093551e-01 -1.70147618e-01 -1.27820111e-01 7.43679839e+01] [ 1.69234230e-01 9.85410500e-01 -1.80533029e-02 2.33299586e+00] [ 1.29027006e-01 -3.99177224e-03 9.91633046e-01 3.40073002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96864 meters Centerline goodness : 0.998182 with order 1 Centerline is valid? [True, True] Translation: X:74.43, Y:2.33, Z:3.41 [[ 9.77412075e-01 -1.68315069e-01 -1.27811087e-01 7.44260951e+01] [ 1.67377767e-01 9.85726361e-01 -1.81169732e-02 2.33166968e+00] [ 1.29036117e-01 -3.68498589e-03 9.91633048e-01 3.40833879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02863999999998 meters Centerline goodness : 0.997835 with order 1 Centerline is valid? [True, True] Translation: X:74.48, Y:2.33, Z:3.44 [[ 9.77713031e-01 -1.66564945e-01 -1.27801991e-01 7.44817315e+01] [ 1.65604408e-01 9.86024662e-01 -1.81809130e-02 2.33126940e+00] [ 1.29044218e-01 -3.38885737e-03 9.91633050e-01 3.43538804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08863999999998 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:74.54, Y:2.33, Z:3.44 [[ 9.77955667e-01 -1.65141496e-01 -1.27792802e-01 7.45408208e+01] [ 1.64160453e-01 9.86264901e-01 -1.82452778e-02 2.33070311e+00] [ 1.29050607e-01 -3.13545141e-03 9.91633052e-01 3.44146110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14863999999999 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:74.60, Y:2.33, Z:3.43 [[ 9.78232669e-01 -1.63498463e-01 -1.27785361e-01 7.46019585e+01] [ 1.62496679e-01 9.86539427e-01 -1.82972437e-02 2.33005894e+00] [ 1.29056868e-01 -2.86573525e-03 9.91633053e-01 3.43190533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20863999999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:74.66, Y:2.33, Z:3.44 [[ 9.78820233e-01 -1.59945155e-01 -1.27783014e-01 7.46610181e+01] [ 1.58911077e-01 9.87123032e-01 -1.83136170e-02 2.33311859e+00] [ 1.29066731e-01 -2.38039752e-03 9.91633053e-01 3.43771628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26863999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:74.72, Y:2.34, Z:3.46 [[ 9.79834702e-01 -1.53615065e-01 -1.27774681e-01 7.47170484e+01] [ 1.52519784e-01 9.88129648e-01 -1.83715778e-02 2.33861570e+00] [ 1.29080102e-01 -1.48705725e-03 9.91633055e-01 3.46434414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:74.78, Y:2.35, Z:3.45 [[ 9.80784031e-01 -1.47433978e-01 -1.27772872e-01 7.47785586e+01] [ 1.46284780e-01 9.89071679e-01 -1.83841512e-02 2.34987828e+00] [ 1.29086977e-01 -6.60344512e-04 9.91633055e-01 3.45177332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:74.84, Y:2.36, Z:3.48 [[ 9.80932723e-01 -1.46442848e-01 -1.27771225e-01 7.48352549e+01] [ 1.45283787e-01 9.89218997e-01 -1.83955873e-02 2.35918950e+00] [ 1.29087626e-01 -5.18253945e-04 9.91633055e-01 3.47550365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:74.90, Y:2.37, Z:3.47 [[ 9.81388174e-01 -1.43359613e-01 -1.27770393e-01 7.48950320e+01] [ 1.42173766e-01 9.89670657e-01 -1.84013653e-02 2.37290093e+00] [ 1.29088622e-01 -1.06715691e-04 9.91633055e-01 3.46788409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50863999999999 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:74.95, Y:2.38, Z:3.49 [[ 9.81056420e-01 -1.45613685e-01 -1.27769151e-01 7.49515664e+01] [ 1.44445745e-01 9.89341447e-01 -1.84099883e-02 2.38385931e+00] [ 1.29088063e-01 -3.94472923e-04 9.91633055e-01 3.49055381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.01, Y:2.39, Z:3.48 [[ 9.80546442e-01 -1.49010187e-01 -1.27767913e-01 7.50127679e+01] [ 1.47869826e-01 9.88835310e-01 -1.84185757e-02 2.39242291e+00] [ 1.29085979e-01 -8.32750176e-04 9.91633055e-01 3.48296095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62863999999999 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:75.07, Y:2.40, Z:3.51 [[ 9.80372204e-01 -1.50153825e-01 -1.27766078e-01 7.50694073e+01] [ 1.49021475e-01 9.88662170e-01 -1.84312971e-02 2.39836649e+00] [ 1.29085017e-01 -9.70357917e-04 9.91633055e-01 3.50530702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68863999999999 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:75.13, Y:2.41, Z:3.51 [[ 9.80507090e-01 -1.49272070e-01 -1.27764223e-01 7.51270649e+01] [ 1.48130591e-01 9.88795804e-01 -1.84441472e-02 2.40733340e+00] [ 1.29085923e-01 -8.41172617e-04 9.91633056e-01 3.51376413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:75.18, Y:2.41, Z:3.52 [[ 9.81082699e-01 -1.45448490e-01 -1.27755530e-01 7.51847538e+01] [ 1.44266891e-01 9.89365787e-01 -1.85041618e-02 2.41472807e+00] [ 1.29088353e-01 -2.76780105e-04 9.91633057e-01 3.52097337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:75.24, Y:2.42, Z:3.53 [[ 9.81094422e-01 -1.45377185e-01 -1.27746659e-01 7.52420202e+01] [ 1.44187035e-01 9.89376284e-01 -1.85652072e-02 2.42257468e+00] [ 1.29088472e-01 -2.05190742e-04 9.91633059e-01 3.52887603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:75.30, Y:2.43, Z:3.54 [[ 9.80804795e-01 -1.47327435e-01 -1.27736377e-01 7.52989483e+01] [ 1.46144574e-01 9.89087698e-01 -1.86356865e-02 2.42902618e+00] [ 1.29088027e-01 -3.90007635e-04 9.91633062e-01 3.53646727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.36, Y:2.44, Z:3.53 [[ 9.80398525e-01 -1.50015840e-01 -1.27726194e-01 7.53595179e+01] [ 1.48846633e-01 9.88683364e-01 -1.87052188e-02 2.43517496e+00] [ 1.29086843e-01 -6.73045018e-04 9.91633064e-01 3.52610878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98863999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:75.42, Y:2.44, Z:3.55 [[ 9.80580753e-01 -1.48822202e-01 -1.27723686e-01 7.54151329e+01] [ 1.47640681e-01 9.88863845e-01 -1.87223288e-02 2.44365958e+00] [ 1.29087634e-01 -4.98456706e-04 9.91633064e-01 3.55130463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.47, Y:2.45, Z:3.56 [[ 9.80690725e-01 -1.48097419e-01 -1.27721792e-01 7.54730639e+01] [ 1.46908094e-01 9.88972701e-01 -1.87352403e-02 2.44998773e+00] [ 1.29088007e-01 -3.89888768e-04 9.91633064e-01 3.55607283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.53, Y:2.46, Z:3.56 [[ 9.80857483e-01 -1.46991716e-01 -1.27718574e-01 7.55308373e+01] [ 1.45790203e-01 9.89137698e-01 -1.87571517e-02 2.45805157e+00] [ 1.29088403e-01 -2.22024275e-04 9.91633065e-01 3.56312998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.59, Y:2.47, Z:3.55 [[ 9.81147697e-01 -1.45049867e-01 -1.27709567e-01 7.55913369e+01] [ 1.43824008e-01 9.89424341e-01 -1.88182852e-02 2.46688300e+00] [ 1.29088544e-01 9.58154298e-05 9.91633067e-01 3.55492230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.65, Y:2.48, Z:3.58 [[ 9.81753607e-01 -1.40891606e-01 -1.27708300e-01 7.56479546e+01] [ 1.39629573e-01 9.90024813e-01 -1.88268753e-02 2.47679116e+00] [ 1.29086935e-01 6.51497314e-04 9.91633067e-01 3.57784010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:75.70, Y:2.49, Z:3.59 [[ 9.82119960e-01 -1.38315345e-01 -1.27707669e-01 7.57041223e+01] [ 1.37031060e-01 9.90387740e-01 -1.88311527e-02 2.48929130e+00] [ 1.29084748e-01 9.94533614e-04 9.91633067e-01 3.58658488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.76, Y:2.51, Z:3.59 [[ 9.82766318e-01 -1.33655377e-01 -1.27697315e-01 7.57597162e+01] [ 1.32322802e-01 9.91026450e-01 -1.89011114e-02 2.50582023e+00] [ 1.29077652e-01 1.67810914e-03 9.91633069e-01 3.59319102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.82, Y:2.52, Z:3.60 [[ 9.82321277e-01 -1.36897648e-01 -1.27686895e-01 7.58164179e+01] [ 1.35583222e-01 9.90584313e-01 -1.89712463e-02 2.51854031e+00] [ 1.29081754e-01 1.32365826e-03 9.91633072e-01 3.59893176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:75.88, Y:2.53, Z:3.59 [[ 9.81542564e-01 -1.42382695e-01 -1.27676796e-01 7.58763677e+01] [ 1.41105635e-01 9.89811455e-01 -1.90389740e-02 2.53089477e+00] [ 1.29086775e-01 6.71647970e-04 9.91633074e-01 3.59314875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:75.93, Y:2.55, Z:3.60 [[ 9.81213557e-01 -1.44634135e-01 -1.27675070e-01 7.59334590e+01] [ 1.43374544e-01 9.89485127e-01 -1.90505415e-02 2.54717861e+00] [ 1.29087941e-01 3.87294665e-04 9.91633074e-01 3.59978249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58863999999998 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:75.99, Y:2.56, Z:3.62 [[ 9.81616372e-01 -1.41882675e-01 -1.27665988e-01 7.59882809e+01] [ 1.40592009e-01 9.89883149e-01 -1.91112086e-02 2.56236458e+00] [ 1.29085960e-01 8.11057450e-04 9.91633076e-01 3.62430409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64863999999999 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:76.05, Y:2.57, Z:3.61 [[ 9.81667349e-01 -1.41531289e-01 -1.27664055e-01 7.60485968e+01] [ 1.40235986e-01 9.89933400e-01 -1.91241142e-02 2.57367341e+00] [ 1.29085573e-01 8.70423835e-04 9.91633076e-01 3.61386251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70863999999999 meters Centerline goodness : 0.997982 with order 1 Centerline is valid? [True, True] Translation: X:76.11, Y:2.59, Z:3.62 [[ 9.82054315e-01 -1.38828577e-01 -1.27655587e-01 7.61052930e+01] [ 1.37503199e-01 9.90315596e-01 -1.91804765e-02 2.58800177e+00] [ 1.29082117e-01 1.28321815e-03 9.91633078e-01 3.62224056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76863999999999 meters Centerline goodness : 0.997835 with order 1 Centerline is valid? [True, True] Translation: X:76.16, Y:2.61, Z:3.63 [[ 9.82652572e-01 -1.34537260e-01 -1.27646575e-01 7.61617983e+01] [ 1.33168042e-01 9.90906698e-01 -1.92402627e-02 2.60586587e+00] [ 1.29074379e-01 1.90804919e-03 9.91633079e-01 3.63017088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82864 meters Centerline goodness : 0.941338 with order 1 Centerline is valid? [True, False] Translation: X:76.09, Y:2.64, Z:3.63 [[ 9.84205607e-01 -1.38245827e-01 -1.10577639e-01 7.60922220e+01] [ 1.31614114e-01 9.89153718e-01 -6.52123264e-02 2.64462770e+00] [ 1.18393615e-01 4.96287593e-02 9.91725737e-01 3.63263493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88863999999998 meters Centerline goodness : 0.996512 with order 1 Centerline is valid? [False, True] Translation: X:76.08, Y:2.66, Z:3.64 [[ 9.84824914e-01 -1.36725127e-01 -1.06893066e-01 7.60807921e+01] [ 1.27849567e-01 9.88065185e-01 -8.59166941e-02 2.66468279e+00] [ 1.17364288e-01 7.09466687e-02 9.90551460e-01 3.63764639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94863999999998 meters Centerline goodness : 0.929197 with order 1 Centerline is valid? [True, False] Translation: X:76.07, Y:2.69, Z:3.64 [[ 0.98751666 -0.1232085 -0.09813517 76.06748042] [ 0.11399982 0.98897633 -0.09449795 2.68515993] [ 0.10869631 0.0821309 0.99067635 3.63926408] [ 0. 0. 0. 1. ]] SLAMing on 84.00863999999999 meters Centerline goodness : 0.993906 with order 1 Centerline is valid? [False, True] Translation: X:76.06, Y:2.70, Z:3.64 [[ 0.98909724 -0.11403356 -0.09318264 76.06138906] [ 0.1040937 0.9889717 -0.10535411 2.69971676] [ 0.1041689 0.09450573 0.99005935 3.64169327] [ 0. 0. 0. 1. ]] SLAMing on 84.06863999999999 meters Centerline goodness : 0.996218 with order 1 Centerline is valid? [True, True] Translation: X:76.13, Y:2.63, Z:3.62 [[ 9.87999558e-01 -1.13729410e-01 -1.04510741e-01 7.61318720e+01] [ 1.13075288e-01 9.93511738e-01 -1.21821896e-02 2.63058239e+00] [ 1.05218121e-01 2.18415793e-04 9.94449144e-01 3.61529807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12863999999999 meters Centerline goodness : 0.994193 with order 1 Centerline is valid? [True, True] Translation: X:76.19, Y:2.64, Z:3.64 [[ 9.87022773e-01 -1.21917580e-01 -1.04509091e-01 7.61871059e+01] [ 1.21307688e-01 9.92540022e-01 -1.21963295e-02 2.63977054e+00] [ 1.05216402e-01 -6.39701207e-04 9.94449144e-01 3.64191460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18863999999999 meters Centerline goodness : 0.973159 with order 3 Centerline is valid? [True, True] Translation: X:76.36, Y:2.70, Z:3.63 [[ 9.93445596e-01 -4.63126495e-02 -1.04503527e-01 7.63606995e+01] [ 4.52789301e-02 9.98899348e-01 -1.22438137e-02 2.69794123e+00] [ 1.04955549e-01 7.43175485e-03 9.94449145e-01 3.63487545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24863999999998 meters Centerline goodness : 0.962007 with order 3 Centerline is valid? [True, True] Translation: X:76.43, Y:2.66, Z:3.63 [[ 9.93360988e-01 -3.87945312e-02 -1.08300194e-01 7.64302851e+01] [ 4.28553563e-02 9.98453118e-01 3.54230062e-02 2.65814916e+00] [ 1.06758448e-01 -3.98290759e-02 9.93486929e-01 3.63205387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30863999999998 meters Centerline goodness : 0.992485 with order 1 Centerline is valid? [True, True] Translation: X:76.33, Y:2.59, Z:3.66 [[ 9.83557424e-01 -1.42871805e-01 -1.10464656e-01 7.63311366e+01] [ 1.49551590e-01 9.87238924e-01 5.47140597e-02 2.58926941e+00] [ 1.01237912e-01 -7.03345846e-02 9.92372879e-01 3.65770132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36863999999998 meters Centerline goodness : 0.992086 with order 1 Centerline is valid? [True, True] Translation: X:76.38, Y:2.66, Z:3.67 [[ 9.83665011e-01 -1.48224970e-01 -1.02139636e-01 7.63823581e+01] [ 1.47678457e-01 9.88950850e-01 -1.29340490e-02 2.65657851e+00] [ 1.02928229e-01 -2.36105235e-03 9.94685983e-01 3.66526068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42863999999999 meters Centerline goodness : 0.983372 with order 1 Centerline is valid? [True, True] Translation: X:76.45, Y:2.65, Z:3.63 [[ 9.68095802e-01 -2.28818918e-01 -1.02139222e-01 7.64464984e+01] [ 2.28709718e-01 9.73408697e-01 -1.29373135e-02 2.64682947e+00] [ 1.02383509e-01 -1.08356738e-02 9.94685983e-01 3.63218034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48863999999999 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:76.50, Y:2.66, Z:3.65 [[ 9.77413898e-01 -1.85013240e-01 -1.02138013e-01 7.65042351e+01] [ 1.84664025e-01 9.82716427e-01 -1.29468521e-02 2.65830173e+00] [ 1.02768042e-01 -6.20678349e-03 9.94685983e-01 3.64910029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54863999999999 meters Centerline goodness : 0.957231 with order 1 Centerline is valid? [True, True] Translation: X:76.57, Y:2.64, Z:3.65 [[ 9.66831066e-01 -2.34106114e-01 -1.02137248e-01 7.65660601e+01] [ 2.34024326e-01 9.72144453e-01 -1.29528819e-02 2.64167036e+00] [ 1.02324508e-01 -1.13793521e-02 9.94685983e-01 3.65089407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60863999999998 meters Centerline goodness : 0.993658 with order 1 Centerline is valid? [True, True] Translation: X:76.62, Y:2.67, Z:3.68 [[ 9.85670626e-01 -1.34244415e-01 -1.02136449e-01 7.66204381e+01] [ 1.33620307e-01 9.90947866e-01 -1.29591860e-02 2.67317302e+00] [ 1.02951594e-01 -8.74014647e-04 9.94685983e-01 3.67915159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66863999999998 meters Centerline goodness : 0.993115 with order 1 Centerline is valid? [True, True] Translation: X:76.68, Y:2.68, Z:3.69 [[ 9.85826703e-01 -1.33093594e-01 -1.02136217e-01 7.66779568e+01] [ 1.32463136e-01 9.91103188e-01 -1.29610145e-02 2.67603956e+00] [ 1.02952558e-01 -7.51969398e-04 9.94685983e-01 3.69385187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72863999999998 meters Centerline goodness : 0.995526 with order 1 Centerline is valid? [True, True] Translation: X:76.74, Y:2.68, Z:3.68 [[ 9.85810831e-01 -1.33212400e-01 -1.02134528e-01 7.67383762e+01] [ 1.32581200e-01 9.91087228e-01 -1.29743096e-02 2.67999192e+00] [ 1.02952565e-01 -7.50903271e-04 9.94685983e-01 3.68451368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78863999999999 meters Centerline goodness : 0.994538 with order 1 Centerline is valid? [True, True] Translation: X:76.80, Y:2.68, Z:3.69 [[ 9.86621151e-01 -1.27076625e-01 -1.02128529e-01 7.67970724e+01] [ 1.26407740e-01 9.91892901e-01 -1.30213614e-02 2.68310678e+00] [ 1.02955273e-01 -6.26859362e-05 9.94685985e-01 3.69174860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84863999999999 meters Centerline goodness : 0.995530 with order 1 Centerline is valid? [True, True] Translation: X:76.86, Y:2.69, Z:3.70 [[ 9.87675128e-01 -1.18612134e-01 -1.02122495e-01 7.68555455e+01] [ 1.17893196e-01 9.92940284e-01 -1.30685088e-02 2.68804876e+00] [ 1.02951623e-01 8.67893741e-04 9.94685986e-01 3.69963611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90863999999999 meters Centerline goodness : 0.995927 with order 1 Centerline is valid? [True, True] Translation: X:76.91, Y:2.70, Z:3.71 [[ 9.87942906e-01 -1.16366025e-01 -1.02116417e-01 7.69128678e+01] [ 1.15630226e-01 9.93205732e-01 -1.31158308e-02 2.69684423e+00] [ 1.02948848e-01 1.14994762e-03 9.94685987e-01 3.70605205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96864 meters Centerline goodness : 0.997295 with order 1 Centerline is valid? [True, True] Translation: X:76.97, Y:2.71, Z:3.71 [[ 9.89462607e-01 -1.02651937e-01 -1.02109393e-01 7.69690003e+01] [ 1.01837596e-01 9.94713852e-01 -1.31702901e-02 2.71242116e+00] [ 1.02921584e-01 2.63293436e-03 9.94685988e-01 3.71338125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02863999999998 meters Centerline goodness : 0.998233 with order 1 Centerline is valid? [True, True] Translation: X:77.02, Y:2.73, Z:3.72 [[ 9.90082857e-01 -9.64936525e-02 -1.02102459e-01 7.70248160e+01] [ 9.56411389e-02 9.95328038e-01 -1.32238327e-02 2.72849730e+00] [ 1.02901456e-01 3.32749463e-03 9.94685990e-01 3.71966809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08863999999998 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:77.08, Y:2.75, Z:3.73 [[ 9.90446729e-01 -9.26919873e-02 -1.02095405e-01 7.70807863e+01] [ 9.18137600e-02 9.95687665e-01 -1.32780718e-02 2.74770946e+00] [ 1.02885906e-01 3.77745981e-03 9.94685991e-01 3.72536983e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:77.14, Y:2.77, Z:3.73 [[ 9.90532741e-01 -9.17760716e-02 -1.02088404e-01 7.71369698e+01] [ 9.08874811e-02 9.95771928e-01 -1.33316803e-02 2.76996522e+00] [ 1.02880296e-01 3.92690793e-03 9.94685993e-01 3.73092802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.19, Y:2.79, Z:3.74 [[ 9.90689120e-01 -9.00792974e-02 -1.02082264e-01 7.71930576e+01] [ 8.91769141e-02 9.95925947e-01 -1.33785345e-02 2.79414964e+00] [ 1.02871504e-01 4.15058733e-03 9.94685994e-01 3.73677019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.25, Y:2.82, Z:3.75 [[ 9.90419021e-01 -9.30087127e-02 -1.02076163e-01 7.72494365e+01] [ 9.21170462e-02 9.95657683e-01 -1.34249237e-02 2.81748762e+00] [ 1.02881551e-01 3.89334515e-03 9.94685995e-01 3.74740877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.31, Y:2.84, Z:3.75 [[ 9.90245169e-01 -9.48427134e-02 -1.02075295e-01 7.73077577e+01] [ 9.39600705e-02 9.95485359e-01 -1.34315228e-02 2.83564014e+00] [ 1.02888343e-01 3.70949869e-03 9.94685995e-01 3.75015020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.37, Y:2.85, Z:3.76 [[ 9.89940470e-01 -9.79723952e-02 -1.02074856e-01 7.73651973e+01] [ 9.71059777e-02 9.95183367e-01 -1.34348560e-02 2.85079216e+00] [ 1.02899444e-01 3.38762902e-03 9.94685995e-01 3.75583926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.42, Y:2.87, Z:3.76 [[ 9.89399075e-01 -1.03302765e-01 -1.02068653e-01 7.74221886e+01] [ 1.02459756e-01 9.94645786e-01 -1.34818210e-02 2.86796168e+00] [ 1.02914865e-01 2.88097196e-03 9.94685996e-01 3.76144133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.48, Y:2.88, Z:3.77 [[ 9.88689883e-01 -1.09888926e-01 -1.02062433e-01 7.74784193e+01] [ 1.09076033e-01 9.93941342e-01 -1.35287444e-02 2.88427378e+00] [ 1.02930731e-01 2.24316747e-03 9.94685997e-01 3.76925809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:77.54, Y:2.90, Z:3.77 [[ 9.88197638e-01 -1.14236429e-01 -1.02056189e-01 7.75359529e+01] [ 1.13441795e-01 9.93451891e-01 -1.35756843e-02 2.89587844e+00] [ 1.02938752e-01 1.83802186e-03 9.94685998e-01 3.77380566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.59, Y:2.91, Z:3.78 [[ 9.87560822e-01 -1.19622010e-01 -1.02049978e-01 7.75923979e+01] [ 1.18851225e-01 9.92818625e-01 -1.36222152e-02 2.91030165e+00] [ 1.02946636e-01 1.32400117e-03 9.94685999e-01 3.78082288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68863999999999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:77.65, Y:2.92, Z:3.81 [[ 9.86737451e-01 -1.26238980e-01 -1.02043725e-01 7.76484211e+01] [ 1.25498627e-01 9.91999625e-01 -1.36688970e-02 2.91822850e+00] [ 1.02952884e-01 6.81265117e-04 9.94686000e-01 3.80733682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:77.71, Y:2.93, Z:3.79 [[ 9.85706491e-01 -1.34056234e-01 -1.02037445e-01 7.77082575e+01] [ 1.33352779e-01 9.90973722e-01 -1.37156142e-02 2.92575239e+00] [ 1.02955091e-01 -8.74069176e-05 9.94686002e-01 3.79394413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80863999999998 meters Centerline goodness : 0.995092 with order 1 Centerline is valid? [True, True] Translation: X:77.77, Y:2.90, Z:3.81 [[ 9.76355800e-01 -1.90575452e-01 -1.02031113e-01 7.77695194e+01] [ 1.90171477e-01 9.81654420e-01 -1.37625619e-02 2.89940835e+00] [ 1.02782100e-01 -5.96625033e-03 9.94686003e-01 3.81325412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86863999999998 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:77.82, Y:2.93, Z:3.83 [[ 9.84527600e-01 -1.42465202e-01 -1.02024858e-01 7.78240357e+01] [ 1.41797078e-01 9.89799427e-01 -1.38087761e-02 2.93238960e+00] [ 1.02951416e-01 -8.71705591e-04 9.94686004e-01 3.83072100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92863999999999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:77.88, Y:2.94, Z:3.84 [[ 9.85189232e-01 -1.37815797e-01 -1.02024429e-01 7.78823619e+01] [ 1.37122465e-01 9.90457803e-01 -1.38119455e-02 2.93889031e+00] [ 1.02954396e-01 -3.82461212e-04 9.94686004e-01 3.83644830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:77.94, Y:2.95, Z:3.82 [[ 9.86613729e-01 -1.27222728e-01 -1.02018273e-01 7.79446571e+01] [ 1.26468143e-01 9.91873876e-01 -1.38572652e-02 2.94570385e+00] [ 1.02952219e-01 7.69706470e-04 9.94686005e-01 3.81858896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04863999999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:78.00, Y:2.95, Z:3.84 [[ 9.86688226e-01 -1.26644017e-01 -1.02017829e-01 7.80012029e+01] [ 1.25886009e-01 9.91947881e-01 -1.38605338e-02 2.95182377e+00] [ 1.02951723e-01 8.33408145e-04 9.94686005e-01 3.84452890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.06, Y:2.96, Z:3.83 [[ 9.87153211e-01 -1.22971930e-01 -1.02011973e-01 7.80610352e+01] [ 1.22189917e-01 9.92409349e-01 -1.39035049e-02 2.95949383e+00] [ 1.02947376e-01 1.26005503e-03 9.94686006e-01 3.83208160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:78.12, Y:2.97, Z:3.86 [[ 9.86829477e-01 -1.25548040e-01 -1.02006238e-01 7.81169259e+01] [ 1.24775412e-01 9.92087003e-01 -1.39454565e-02 2.96742413e+00] [ 1.02949887e-01 1.03391721e-03 9.94686007e-01 3.85546052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.18, Y:2.98, Z:3.84 [[ 9.87003208e-01 -1.24180109e-01 -1.01999839e-01 7.81767327e+01] [ 1.23395375e-01 9.92258939e-01 -1.39920991e-02 2.97719459e+00] [ 1.02947793e-01 1.22393819e-03 9.94686008e-01 3.84311928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.23, Y:2.99, Z:3.85 [[ 9.86907161e-01 -1.24946421e-01 -1.01993374e-01 7.82341593e+01] [ 1.24160915e-01 9.92162775e-01 -1.40390691e-02 2.98877672e+00] [ 1.02948161e-01 1.19166723e-03 9.94686009e-01 3.84929317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34863999999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:78.29, Y:3.00, Z:3.87 [[ 9.86381671e-01 -1.29034342e-01 -1.01986944e-01 7.82901833e+01] [ 1.28265804e-01 9.91639793e-01 -1.40856285e-02 2.99977272e+00] [ 1.02951842e-01 8.12368377e-04 9.94686010e-01 3.87386924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:78.35, Y:3.01, Z:3.88 [[ 9.85924335e-01 -1.32485807e-01 -1.01983900e-01 7.83473717e+01] [ 1.31733400e-01 9.91184789e-01 -1.41076330e-02 3.01006188e+00] [ 1.02953952e-01 4.74372724e-04 9.94686010e-01 3.88064503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:78.40, Y:3.03, Z:3.88 [[ 9.85680801e-01 -1.34290629e-01 -1.01977382e-01 7.84040835e+01] [ 1.33542995e-01 9.90941934e-01 -1.41545957e-02 3.02674566e+00] [ 1.02954493e-01 3.33548218e-04 9.94686011e-01 3.88421501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:78.46, Y:3.04, Z:3.89 [[ 9.85968878e-01 -1.32163966e-01 -1.01970869e-01 7.84605933e+01] [ 1.31400149e-01 9.91227684e-01 -1.42013603e-02 3.04296802e+00] [ 1.02953256e-01 6.03111909e-04 9.94686012e-01 3.89118090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:78.52, Y:3.06, Z:3.90 [[ 9.85800053e-01 -1.33422396e-01 -1.01964302e-01 7.85164856e+01] [ 1.32660431e-01 9.91059128e-01 -1.42483558e-02 3.06102305e+00] [ 1.02953702e-01 5.19401661e-04 9.94686014e-01 3.89661918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64863999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:78.57, Y:3.07, Z:3.91 [[ 9.83873237e-01 -1.46963551e-01 -1.01956697e-01 7.85739014e+01] [ 1.46268347e-01 9.89141551e-01 -1.43025712e-02 3.07264584e+00] [ 1.02951562e-01 -8.41120478e-04 9.94686015e-01 3.90695191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70863999999999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:78.63, Y:3.08, Z:3.91 [[ 9.81322242e-01 -1.63133966e-01 -1.01950800e-01 7.86322418e+01] [ 1.62521198e-01 9.86600778e-01 -1.43444845e-02 3.08053484e+00] [ 1.02924811e-01 -2.49260442e-03 9.94686016e-01 3.90909967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:78.69, Y:3.09, Z:3.90 [[ 9.79743020e-01 -1.72368630e-01 -1.01944448e-01 7.86910278e+01] [ 1.71800924e-01 9.85026591e-01 -1.43894818e-02 3.08640376e+00] [ 1.02898288e-01 -3.41615614e-03 9.94686017e-01 3.89965358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:78.75, Y:3.09, Z:3.92 [[ 9.80118149e-01 -1.70226867e-01 -1.01937374e-01 7.87474268e+01] [ 1.69642425e-01 9.85399894e-01 -1.44394217e-02 3.09134636e+00] [ 1.02907055e-01 -3.14056412e-03 9.94686018e-01 3.92196795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88863999999998 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:78.81, Y:3.09, Z:3.93 [[ 9.79196320e-01 -1.75455298e-01 -1.01931378e-01 7.88060199e+01] [ 1.74894665e-01 9.84480644e-01 -1.44816325e-02 3.09190439e+00] [ 1.02890347e-01 -3.64689291e-03 9.94686019e-01 3.93125324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94863999999998 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:78.87, Y:3.09, Z:3.92 [[ 9.77999184e-01 -1.82013231e-01 -1.01925363e-01 7.88677144e+01] [ 1.81483631e-01 9.83286708e-01 -1.45238407e-02 3.08822055e+00] [ 1.02865386e-01 -4.29348062e-03 9.94686020e-01 3.91774240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00863999999999 meters Centerline goodness : 0.998180 with order 1 Centerline is valid? [True, True] Translation: X:78.92, Y:3.08, Z:3.94 [[ 9.77758614e-01 -1.83304474e-01 -1.01919394e-01 7.89244078e+01] [ 1.82777510e-01 9.83046400e-01 -1.45656082e-02 3.08478816e+00] [ 1.02861435e-01 -4.38692425e-03 9.94686021e-01 3.93923713e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06863999999999 meters Centerline goodness : 0.998184 with order 1 Centerline is valid? [True, True] Translation: X:78.98, Y:3.09, Z:3.93 [[ 9.79024249e-01 -1.76423848e-01 -1.01912445e-01 7.89836175e+01] [ 1.75854673e-01 9.84307657e-01 -1.46140700e-02 3.08632317e+00] [ 1.02891470e-01 -3.61425072e-03 9.94686022e-01 3.92888784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12863999999999 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:79.04, Y:3.08, Z:3.94 [[ 9.80278107e-01 -1.69322514e-01 -1.01905447e-01 7.90430566e+01] [ 1.68710003e-01 9.85556665e-01 -1.46627080e-02 3.08480628e+00] [ 1.02916319e-01 -2.81893653e-03 9.94686023e-01 3.93508231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18863999999999 meters Centerline goodness : 0.997936 with order 1 Centerline is valid? [True, True] Translation: X:79.10, Y:3.09, Z:3.96 [[ 9.82163926e-01 -1.58020790e-01 -1.01899224e-01 7.91001525e+01] [ 1.57343050e-01 9.87434506e-01 -1.47058259e-02 3.08742310e+00] [ 1.02942636e-01 -1.58960308e-03 9.94686024e-01 3.95608685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24863999999998 meters Centerline goodness : 0.998327 with order 1 Centerline is valid? [True, True] Translation: X:79.16, Y:3.09, Z:3.95 [[ 9.83231759e-01 -1.51238800e-01 -1.01892752e-01 7.91598893e+01] [ 1.50520070e-01 9.88496905e-01 -1.47505330e-02 3.09352349e+00] [ 1.02951523e-01 -8.33711699e-04 9.94686025e-01 3.94637830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30863999999998 meters Centerline goodness : 0.997839 with order 1 Centerline is valid? [True, True] Translation: X:79.22, Y:3.10, Z:3.97 [[ 9.84227207e-01 -1.44623685e-01 -1.01886185e-01 7.92169243e+01] [ 1.43864884e-01 9.89486726e-01 -1.47957579e-02 3.10283900e+00] [ 1.02954845e-01 -9.54566692e-05 9.94686026e-01 3.97298758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.36863999999998 meters Centerline goodness : 0.997890 with order 1 Centerline is valid? [True, True] Translation: X:79.27, Y:3.11, Z:3.98 [[ 9.84393836e-01 -1.43485464e-01 -1.01885707e-01 7.92745840e+01] [ 1.42720242e-01 9.89652424e-01 -1.47990467e-02 3.11342725e+00] [ 1.02954885e-01 2.69375979e-05 9.94686026e-01 3.98084373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42863999999999 meters Centerline goodness : 0.998134 with order 1 Centerline is valid? [True, True] Translation: X:79.34, Y:3.12, Z:3.96 [[ 9.84602862e-01 -1.42048956e-01 -1.01878842e-01 7.93354210e+01] [ 1.41271186e-01 9.89859608e-01 -1.48461597e-02 3.12268232e+00] [ 1.02954632e-01 2.25026492e-04 9.94686027e-01 3.96411244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48863999999999 meters Centerline goodness : 0.997594 with order 1 Centerline is valid? [True, True] Translation: X:79.39, Y:3.13, Z:3.99 [[ 9.83838324e-01 -1.47251663e-01 -1.01877872e-01 7.93921720e+01] [ 1.46501003e-01 9.89099009e-01 -1.48528114e-02 3.12890421e+00] [ 1.02954404e-01 -3.12445391e-04 9.94686027e-01 3.99353715e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54863999999999 meters Centerline goodness : 0.998184 with order 1 Centerline is valid? [True, True] Translation: X:79.45, Y:3.14, Z:3.98 [[ 9.83691321e-01 -1.48231284e-01 -1.01876742e-01 7.94544221e+01] [ 1.47485061e-01 9.88952638e-01 -1.48605581e-02 3.13626532e+00] [ 1.02954072e-01 -4.07095479e-04 9.94686027e-01 3.97551994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60863999999998 meters Centerline goodness : 0.998087 with order 1 Centerline is valid? [True, True] Translation: X:79.51, Y:3.15, Z:3.98 [[ 9.83973195e-01 -1.46348494e-01 -1.01876742e-01 7.95113885e+01] [ 1.45592203e-01 9.89233074e-01 -1.48605581e-02 3.14611616e+00] [ 1.02954663e-01 -2.10068533e-04 9.94686027e-01 3.98158849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66863999999998 meters Centerline goodness : 0.997594 with order 1 Centerline is valid? [True, True] Translation: X:79.57, Y:3.15, Z:4.01 [[ 9.83410860e-01 -1.50085872e-01 -1.01869090e-01 7.95674376e+01] [ 1.49344156e-01 9.88672813e-01 -1.49128304e-02 3.15439856e+00] [ 1.02953405e-01 -5.48113887e-04 9.94686029e-01 4.00699481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72863999999998 meters Centerline goodness : 0.998184 with order 1 Centerline is valid? [True, True] Translation: X:79.63, Y:3.16, Z:3.99 [[ 9.83084447e-01 -1.52213829e-01 -1.01862264e-01 7.96277539e+01] [ 1.51478687e-01 9.88347321e-01 -1.49593138e-02 3.16103162e+00] [ 1.02952310e-01 -7.23693211e-04 9.94686030e-01 3.99350131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78863999999999 meters Centerline goodness : 0.998133 with order 1 Centerline is valid? [True, True] Translation: X:79.69, Y:3.16, Z:4.02 [[ 9.81711705e-01 -1.60834046e-01 -1.01855472e-01 7.96854109e+01] [ 1.60140329e-01 9.86980199e-01 -1.50054137e-02 3.16391800e+00] [ 1.02942716e-01 -1.58017860e-03 9.94686031e-01 4.02275411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84863999999999 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:79.74, Y:3.18, Z:4.01 [[ 9.85815075e-01 -1.33395576e-01 -1.01854100e-01 7.97446440e+01] [ 1.32554250e-01 9.91062021e-01 -1.50147239e-02 3.18207328e+00] [ 1.02946628e-01 1.30054735e-03 9.94686031e-01 4.01236712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90863999999999 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:79.81, Y:3.17, Z:4.01 [[ 9.80714323e-01 -1.66809327e-01 -1.01853154e-01 7.98060762e+01] [ 1.66146074e-01 9.85986738e-01 -1.50211343e-02 3.16954696e+00] [ 1.02931525e-01 -2.19106019e-03 9.94686031e-01 4.01176646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96863999999998 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:79.86, Y:3.17, Z:4.02 [[ 9.79559344e-01 -1.73466885e-01 -1.01846609e-01 7.98641145e+01] [ 1.72834862e-01 9.84835593e-01 -1.50653822e-02 3.17005745e+00] [ 1.02915511e-01 -2.84520879e-03 9.94686032e-01 4.01732254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:79.92, Y:3.16, Z:4.04 [[ 9.78191670e-01 -1.81024485e-01 -1.01839049e-01 7.99224054e+01] [ 1.80427920e-01 9.83472045e-01 -1.51163190e-02 3.16424838e+00] [ 1.02892281e-01 -3.58795044e-03 9.94686033e-01 4.04153990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08863999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:79.98, Y:3.16, Z:4.05 [[ 9.78990931e-01 -1.76654697e-01 -1.01832585e-01 7.99828482e+01] [ 1.76030047e-01 9.84268055e-01 -1.51597416e-02 3.16141651e+00] [ 1.02908599e-01 -3.08434516e-03 9.94686034e-01 4.05293835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.05, Y:3.16, Z:4.05 [[ 9.79053361e-01 -1.76308637e-01 -1.01832122e-01 8.00455397e+01] [ 1.75681799e-01 9.84330226e-01 -1.51628464e-02 3.15702620e+00] [ 1.02909777e-01 -3.04481466e-03 9.94686034e-01 4.04738484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:80.10, Y:3.16, Z:4.05 [[ 9.80568394e-01 -1.67678075e-01 -1.01831664e-01 8.01041763e+01] [ 1.67004462e-01 9.85839492e-01 -1.51659262e-02 3.16061555e+00] [ 1.02932669e-01 -2.13511430e-03 9.94686034e-01 4.05033656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:80.17, Y:3.15, Z:4.05 [[ 9.79518704e-01 -1.73708841e-01 -1.01825076e-01 8.01662669e+01] [ 1.73063095e-01 9.84793288e-01 -1.52100255e-02 3.15227143e+00] [ 1.02918768e-01 -2.72365838e-03 9.94686035e-01 4.04585644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:80.22, Y:3.16, Z:4.05 [[ 9.79737979e-01 -1.72471403e-01 -1.01818992e-01 8.02247381e+01] [ 1.71814776e-01 9.85011219e-01 -1.52506457e-02 3.15738337e+00] [ 1.02923150e-01 -2.55237053e-03 9.94686036e-01 4.05194197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38863999999998 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:80.28, Y:3.16, Z:4.06 [[ 9.80356583e-01 -1.68923754e-01 -1.01812257e-01 8.02835975e+01] [ 1.68243389e-01 9.85626811e-01 -1.52954772e-02 3.16298141e+00] [ 1.02932660e-01 -2.13421739e-03 9.94686037e-01 4.05713267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44863999999998 meters Centerline goodness : 0.981954 with order 1 Centerline is valid? [True, True] Translation: X:80.34, Y:3.21, Z:4.06 [[ 9.90257967e-01 -9.49983703e-02 -1.01806037e-01 8.03378287e+01] [ 9.39208277e-02 9.95461532e-01 -1.53367663e-02 3.20700064e+00] [ 1.02800962e-01 5.62564769e-03 9.94686038e-01 4.06007560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50863999999999 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:80.40, Y:3.18, Z:4.07 [[ 9.81755048e-01 -1.60600924e-01 -1.01805548e-01 8.04014037e+01] [ 1.59871256e-01 9.87018675e-01 -1.53400147e-02 3.18178679e+00] [ 1.02947597e-01 -1.21564399e-03 9.94686038e-01 4.06877805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56863999999999 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:80.46, Y:3.19, Z:4.07 [[ 9.82112231e-01 -1.58402637e-01 -1.01804571e-01 8.04585329e+01] [ 1.57660515e-01 9.87374117e-01 -1.53464959e-02 3.19268779e+00] [ 1.02950124e-01 -9.78579750e-04 9.94686038e-01 4.07402764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62863999999999 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:80.51, Y:3.20, Z:4.10 [[ 9.82229010e-01 -1.57682015e-01 -1.01796630e-01 8.05148584e+01] [ 1.56930593e-01 9.87489575e-01 -1.53989869e-02 3.20131310e+00] [ 1.02951255e-01 -8.49673970e-04 9.94686040e-01 4.09610083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68863999999999 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:80.57, Y:3.22, Z:4.09 [[ 9.82357887e-01 -1.56878081e-01 -1.01795134e-01 8.05743282e+01] [ 1.56121329e-01 9.87617688e-01 -1.54088749e-02 3.21593394e+00] [ 1.02951989e-01 -7.55361734e-04 9.94686040e-01 4.08544698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74863999999998 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:80.63, Y:3.23, Z:4.09 [[ 9.82353924e-01 -1.56903541e-01 -1.01794140e-01 8.06316881e+01] [ 1.56146246e-01 9.87613646e-01 -1.54154348e-02 3.22532393e+00] [ 1.02952018e-01 -7.51359977e-04 9.94686040e-01 4.09081007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80863999999998 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:80.69, Y:3.23, Z:4.12 [[ 9.82398228e-01 -1.56630473e-01 -1.01787117e-01 8.06884924e+01] [ 1.55866925e-01 9.87657045e-01 -1.54616737e-02 3.23417136e+00] [ 1.02952532e-01 -6.75723976e-04 9.94686041e-01 4.11602906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86863999999998 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:80.75, Y:3.24, Z:4.12 [[ 9.82326838e-01 -1.57078234e-01 -1.01786108e-01 8.07453572e+01] [ 1.56316395e-01 9.87585903e-01 -1.54683132e-02 3.24092936e+00] [ 1.02952260e-01 -7.15898305e-04 9.94686041e-01 4.12110534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92863999999999 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:80.80, Y:3.25, Z:4.13 [[ 9.81965760e-01 -1.59324979e-01 -1.01778175e-01 8.08037426e+01] [ 1.58569782e-01 9.87225781e-01 -1.55203316e-02 3.24963447e+00] [ 1.02950815e-01 -8.98508801e-04 9.94686042e-01 4.12595178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98863999999999 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:80.86, Y:3.26, Z:4.13 [[ 9.82259988e-01 -1.57505467e-01 -1.01771039e-01 8.08618765e+01] [ 1.56735692e-01 9.87517894e-01 -1.55669854e-02 3.25561877e+00] [ 1.02952608e-01 -6.60327368e-04 9.94686043e-01 4.13426387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04863999999999 meters Centerline goodness : 0.999408 with order 1 Centerline is valid? [True, True] Translation: X:80.92, Y:3.26, Z:4.12 [[ 9.82603843e-01 -1.55350529e-01 -1.01763950e-01 8.09228603e+01] [ 1.54564437e-01 9.87859334e-01 -1.56131949e-02 3.26439877e+00] [ 1.02953986e-01 -3.87502291e-04 9.94686044e-01 4.12062022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10863999999998 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:80.98, Y:3.27, Z:4.13 [[ 9.83299020e-01 -1.50888167e-01 -1.01763447e-01 8.09795603e+01] [ 1.50077886e-01 9.88550835e-01 -1.56164692e-02 3.27252346e+00] [ 1.02954681e-01 8.32158901e-05 9.94686044e-01 4.12749940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16863999999998 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:81.04, Y:3.28, Z:4.13 [[ 9.84378452e-01 -1.43683480e-01 -1.01755198e-01 8.10366443e+01] [ 1.42829224e-01 9.89623293e-01 -1.56700364e-02 3.28347869e+00] [ 1.02950840e-01 8.91630088e-04 9.94686046e-01 4.13330356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22863999999998 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:81.09, Y:3.29, Z:4.14 [[ 9.84856435e-01 -1.40375741e-01 -1.01747007e-01 8.10940994e+01] [ 1.39498395e-01 9.90097462e-01 -1.57230448e-02 3.29273795e+00] [ 1.02946587e-01 1.29139765e-03 9.94686047e-01 4.14065327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28863999999999 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:81.15, Y:3.30, Z:4.15 [[ 9.85352264e-01 -1.36857350e-01 -1.01739769e-01 8.11518599e+01] [ 1.35956471e-01 9.90589296e-01 -1.57697418e-02 3.30360036e+00] [ 1.02940531e-01 1.70657090e-03 9.94686048e-01 4.14769589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34863999999999 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:81.21, Y:3.32, Z:4.17 [[ 9.85254096e-01 -1.37567708e-01 -1.01732455e-01 8.12075476e+01] [ 1.36665748e-01 9.90490940e-01 -1.58167871e-02 3.31698741e+00] [ 1.02940954e-01 1.68021229e-03 9.94686049e-01 4.17300467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40863999999999 meters Centerline goodness : 0.987076 with order 1 Centerline is valid? [True, True] Translation: X:81.26, Y:3.37, Z:4.16 [[ 9.92226023e-01 -7.16831900e-02 -1.01730225e-01 8.12603304e+01] [ 7.04332019e-02 9.97390866e-01 -1.58311172e-02 3.36846636e+00] [ 1.02599622e-01 8.54286098e-03 9.94686050e-01 4.16491888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46863999999998 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:81.32, Y:3.35, Z:4.16 [[ 9.85375830e-01 -1.36700107e-01 -1.01722925e-01 8.13245193e+01] [ 1.35787231e-01 9.90610782e-01 -1.58778845e-02 3.34876188e+00] [ 1.02938335e-01 1.83300931e-03 9.94686051e-01 4.16474274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:81.38, Y:3.37, Z:4.19 [[ 9.84960256e-01 -1.39663839e-01 -1.01721713e-01 8.13811992e+01] [ 1.38765914e-01 9.90197792e-01 -1.58856468e-02 3.36596444e+00] [ 1.02943266e-01 1.53122435e-03 9.94686051e-01 4.18591594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:81.44, Y:3.38, Z:4.19 [[ 9.84196887e-01 -1.44945443e-01 -1.01721713e-01 8.14379401e+01] [ 1.44075626e-01 9.89439165e-01 -1.58856468e-02 3.37865236e+00] [ 1.02949999e-01 9.78984728e-04 9.94686051e-01 4.19081457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64863999999999 meters Centerline goodness : 0.964358 with order 1 Centerline is valid? [True, True] Translation: X:81.49, Y:3.44, Z:4.19 [[ 9.92163827e-01 -7.25628568e-02 -1.01713184e-01 8.14882481e+01] [ 7.13063562e-02 9.97327087e-01 -1.59400697e-02 3.43540167e+00] [ 1.02597970e-01 8.56236406e-03 9.94686052e-01 4.18627417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:81.56, Y:3.40, Z:4.19 [[ 9.80725897e-01 -1.66831831e-01 -1.01704747e-01 8.15552400e+01] [ 1.66067792e-01 9.85984629e-01 -1.59937199e-02 3.39969050e+00] [ 1.02947579e-01 -1.20442751e-03 9.94686054e-01 4.18550549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:81.61, Y:3.41, Z:4.19 [[ 9.79449894e-01 -1.74167033e-01 -1.01704226e-01 8.16135125e+01] [ 1.73442029e-01 9.84714150e-01 -1.59970328e-02 3.40603128e+00] [ 1.02935746e-01 -1.97149522e-03 9.94686054e-01 4.19252820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:81.67, Y:3.41, Z:4.22 [[ 9.79032904e-01 -1.76500028e-01 -1.01697165e-01 8.16716264e+01] [ 1.75782919e-01 9.84298240e-01 -1.60417960e-02 3.40814148e+00] [ 1.02931718e-01 -2.17117851e-03 9.94686055e-01 4.21576441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88863999999998 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:81.73, Y:3.41, Z:4.22 [[ 9.78031877e-01 -1.81965478e-01 -1.01696664e-01 8.17309893e+01] [ 1.81277459e-01 9.83301094e-01 -1.60449725e-02 3.40598518e+00] [ 1.02918072e-01 -2.74281828e-03 9.94686055e-01 4.22368559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94863999999998 meters Centerline goodness : 0.999063 with order 1 Centerline is valid? [True, True] Translation: X:81.79, Y:3.40, Z:4.23 [[ 9.77641528e-01 -1.84055203e-01 -1.01689358e-01 8.17904075e+01] [ 1.83373647e-01 9.82911583e-01 -1.60911482e-02 3.40127797e+00] [ 1.02913307e-01 -2.91577362e-03 9.94686056e-01 4.23190603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:81.85, Y:3.40, Z:4.22 [[ 9.77147523e-01 -1.86663927e-01 -1.01682328e-01 8.18519283e+01] [ 1.85991834e-01 9.82418793e-01 -1.61354465e-02 3.39898348e+00] [ 1.02906536e-01 -3.14537113e-03 9.94686057e-01 4.21760881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:81.91, Y:3.40, Z:4.22 [[ 9.77108821e-01 -1.86870327e-01 -1.01675135e-01 8.19108158e+01] [ 1.86194649e-01 9.82379631e-01 -1.61806498e-02 3.40005412e+00] [ 1.02907265e-01 -3.12111032e-03 9.94686058e-01 4.22352388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12863999999999 meters Centerline goodness : 0.998375 with order 1 Centerline is valid? [True, True] Translation: X:81.97, Y:3.40, Z:4.25 [[ 9.77524105e-01 -1.84689501e-01 -1.01668146e-01 8.19684469e+01] [ 1.83997511e-01 9.82792798e-01 -1.62244412e-02 3.39792833e+00] [ 1.02915206e-01 -2.84690347e-03 9.94686059e-01 4.25113297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18863999999999 meters Centerline goodness : 0.975842 with order 1 Centerline is valid? [True, True] Translation: X:82.04, Y:3.37, Z:4.23 [[ 9.58949447e-01 -2.64728149e-01 -1.01661028e-01 8.20351087e+01] [ 2.64468653e-01 9.64257048e-01 -1.62689232e-02 3.36948425e+00] [ 1.02334205e-01 -1.12850802e-02 9.94686060e-01 4.23081910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24863999999998 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:82.09, Y:3.41, Z:4.26 [[ 9.80481095e-01 -1.68295321e-01 -1.01653865e-01 8.20858817e+01] [ 1.67505967e-01 9.85736080e-01 -1.63135606e-02 3.40675915e+00] [ 1.02949378e-01 -1.03249106e-03 9.94686061e-01 4.25666203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30863999999998 meters Centerline goodness : 0.978283 with order 1 Centerline is valid? [True, True] Translation: X:82.15, Y:3.40, Z:4.23 [[ 9.61406959e-01 -2.55663729e-01 -1.01649970e-01 8.21499844e+01] [ 2.55346932e-01 9.66711446e-01 -1.63377928e-02 3.39748800e+00] [ 1.02443170e-01 -1.02487403e-02 9.94686061e-01 4.23185068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:82.21, Y:3.40, Z:4.26 [[ 9.80537411e-01 -1.67969871e-01 -1.01648946e-01 8.22064746e+01] [ 1.67175601e-01 9.85791655e-01 -1.63441598e-02 3.40488770e+00] [ 1.02950009e-01 -9.67163485e-04 9.94686061e-01 4.25546472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42863999999999 meters Centerline goodness : 0.954461 with order 1 Centerline is valid? [True, True] Translation: X:82.26, Y:3.44, Z:4.25 [[ 9.92834909e-01 -6.28224812e-02 -1.01647327e-01 8.22610730e+01] [ 6.14733478e-02 9.97974733e-01 -1.63542240e-02 3.43954862e+00] [ 1.02468877e-01 9.98844301e-03 9.94686061e-01 4.25055060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48863999999999 meters Centerline goodness : 0.995322 with order 1 Centerline is valid? [True, True] Translation: X:82.32, Y:3.40, Z:4.26 [[ 9.69747426e-01 -2.21944264e-01 -1.01639919e-01 8.23246933e+01] [ 2.21435968e-01 9.75036998e-01 -1.64001322e-02 3.40067240e+00] [ 1.02742597e-01 -6.60274799e-03 9.94686062e-01 4.26128077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54863999999999 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:82.38, Y:3.42, Z:4.28 [[ 9.84518994e-01 -1.42803548e-01 -1.01634132e-01 8.23800308e+01] [ 1.41865508e-01 9.89749483e-01 -1.64359218e-02 3.42095087e+00] [ 1.02939437e-01 1.76309955e-03 9.94686063e-01 4.27606872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60863999999998 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:82.44, Y:3.43, Z:4.28 [[ 9.85448238e-01 -1.36249204e-01 -1.01626399e-01 8.24368443e+01] [ 1.35271466e-01 9.90671450e-01 -1.64835966e-02 3.43321043e+00] [ 1.02924249e-01 2.49657915e-03 9.94686064e-01 4.28284514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66863999999998 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:82.49, Y:3.45, Z:4.30 [[ 9.86098704e-01 -1.31464839e-01 -1.01618608e-01 8.24938565e+01] [ 1.30456831e-01 9.91316158e-01 -1.65314914e-02 3.44588648e+00] [ 1.02909478e-01 3.04484066e-03 9.94686065e-01 4.29746059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72863999999998 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:82.55, Y:3.46, Z:4.29 [[ 9.86428079e-01 -1.28971033e-01 -1.01617509e-01 8.25531354e+01] [ 1.27949141e-01 9.91642831e-01 -1.65382433e-02 3.46088388e+00] [ 1.02901228e-01 3.31191468e-03 9.94686065e-01 4.29446402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78863999999999 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:82.61, Y:3.48, Z:4.30 [[ 9.85548157e-01 -1.35531625e-01 -1.01616970e-01 8.26098522e+01] [ 1.34544112e-01 9.90769529e-01 -1.65415534e-02 3.47561393e+00] [ 1.02920901e-01 2.63053251e-03 9.94686065e-01 4.30071225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84863999999999 meters Centerline goodness : 0.999062 with order 1 Centerline is valid? [True, True] Translation: X:82.67, Y:3.49, Z:4.31 [[ 9.84793531e-01 -1.40915726e-01 -1.01609344e-01 8.26655722e+01] [ 1.39951945e-01 9.90019334e-01 -1.65882685e-02 3.49259642e+00] [ 1.02932763e-01 2.11559421e-03 9.94686066e-01 4.30670800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90863999999999 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:82.72, Y:3.51, Z:4.31 [[ 9.84603190e-01 -1.42245940e-01 -1.01600445e-01 8.27216909e+01] [ 1.41283616e-01 9.89829260e-01 -1.66425939e-02 3.50682023e+00] [ 1.02934435e-01 2.03187284e-03 9.94686068e-01 4.31217636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96863999999998 meters Centerline goodness : 0.998328 with order 1 Centerline is valid? [True, True] Translation: X:82.78, Y:3.52, Z:4.33 [[ 9.84473714e-01 -1.43145665e-01 -1.01591461e-01 8.27785221e+01] [ 1.42182478e-01 9.89699623e-01 -1.66972549e-02 3.52288956e+00] [ 1.02935171e-01 1.99348288e-03 9.94686069e-01 4.32890234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02863999999998 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:82.84, Y:3.54, Z:4.32 [[ 9.83824040e-01 -1.47545171e-01 -1.01590749e-01 8.28374783e+01] [ 1.46604908e-01 9.89054123e-01 -1.67015884e-02 3.53760941e+00] [ 1.02942988e-01 1.53772177e-03 9.94686069e-01 4.32493802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08863999999998 meters Centerline goodness : 0.998131 with order 1 Centerline is valid? [True, True] Translation: X:82.89, Y:3.55, Z:4.35 [[ 9.83416915e-01 -1.50235541e-01 -1.01589632e-01 8.28936152e+01] [ 1.49308886e-01 9.88649426e-01 -1.67083781e-02 3.54963236e+00] [ 1.02946724e-01 1.26306685e-03 9.94686069e-01 4.34819937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14863999999999 meters Centerline goodness : 0.998131 with order 1 Centerline is valid? [True, True] Translation: X:82.95, Y:3.56, Z:4.35 [[ 9.82549894e-01 -1.55805905e-01 -1.01588511e-01 8.29515238e+01] [ 1.54908211e-01 9.87787451e-01 -1.67151903e-02 3.56085300e+00] [ 1.02952182e-01 6.86613999e-04 9.94686069e-01 4.35332258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20863999999999 meters Centerline goodness : 0.998277 with order 1 Centerline is valid? [True, True] Translation: X:83.01, Y:3.57, Z:4.36 [[ 9.81559846e-01 -1.61931095e-01 -1.01580456e-01 8.30096029e+01] [ 1.61061034e-01 9.86802063e-01 -1.67640033e-02 3.56983945e+00] [ 1.02954417e-01 9.42192725e-05 9.94686071e-01 4.36151322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26863999999999 meters Centerline goodness : 0.997295 with order 1 Centerline is valid? [True, True] Translation: X:83.07, Y:3.57, Z:4.37 [[ 9.79721935e-01 -1.72707480e-01 -1.01572911e-01 8.30675236e+01] [ 1.71890351e-01 9.84972662e-01 -1.68095961e-02 3.57397771e+00] [ 1.02949683e-01 -9.90673177e-04 9.94686072e-01 4.37057128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32863999999998 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:83.13, Y:3.58, Z:4.35 [[ 9.78522175e-01 -1.79384840e-01 -1.01564918e-01 8.31286354e+01] [ 1.78598540e-01 9.83777606e-01 -1.68577527e-02 3.57830978e+00] [ 1.02941317e-01 -1.64366113e-03 9.94686073e-01 4.35364380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38863999999998 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:83.19, Y:3.58, Z:4.36 [[ 9.77636785e-01 -1.84153382e-01 -1.01557120e-01 8.31871315e+01] [ 1.83387849e-01 9.82895280e-01 -1.69045994e-02 3.58145634e+00] [ 1.02933053e-01 -2.09778361e-03 9.94686074e-01 4.35917350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.44863999999998 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:83.25, Y:3.59, Z:4.37 [[ 9.77826932e-01 -1.83145270e-01 -1.01549498e-01 8.32455197e+01] [ 1.82369575e-01 9.83083937e-01 -1.69502613e-02 3.58542554e+00] [ 1.02936041e-01 -1.94511681e-03 9.94686075e-01 4.36510639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50863999999999 meters Centerline goodness : 0.998375 with order 1 Centerline is valid? [True, True] Translation: X:83.30, Y:3.59, Z:4.40 [[ 9.78524848e-01 -1.79383274e-01 -1.01541927e-01 8.33012698e+01] [ 1.78582674e-01 9.83778116e-01 -1.69954965e-02 3.58939265e+00] [ 1.02943434e-01 -1.50311323e-03 9.94686076e-01 4.39507271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56863999999999 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:83.36, Y:3.59, Z:4.38 [[ 9.78046632e-01 -1.81976874e-01 -1.01534246e-01 8.33622834e+01] [ 1.81185454e-01 9.83301290e-01 -1.70412634e-02 3.59492572e+00] [ 1.02939871e-01 -1.72937824e-03 9.94686077e-01 4.37673464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62863999999999 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:83.42, Y:3.60, Z:4.38 [[ 9.78143695e-01 -1.81458745e-01 -1.01526528e-01 8.34198178e+01] [ 1.80659783e-01 9.83397210e-01 -1.70871204e-02 3.60171807e+00] [ 1.02941512e-01 -1.62810147e-03 9.94686078e-01 4.38399065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68863999999999 meters Centerline goodness : 0.998278 with order 1 Centerline is valid? [True, True] Translation: X:83.48, Y:3.61, Z:4.41 [[ 9.79179058e-01 -1.75787642e-01 -1.01523779e-01 8.34767567e+01] [ 1.74956559e-01 9.84427587e-01 -1.71034371e-02 3.60675328e+00] [ 1.02949382e-01 -1.01492368e-03 9.94686078e-01 4.40684094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74863999999998 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:83.53, Y:3.62, Z:4.41 [[ 9.80325026e-01 -1.69284892e-01 -1.01515851e-01 8.35341882e+01] [ 1.68414133e-01 9.85567118e-01 -1.71503677e-02 3.61761673e+00] [ 1.02953983e-01 -2.83769321e-04 9.94686080e-01 4.40986476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80863999999998 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:83.59, Y:3.63, Z:4.42 [[ 9.80702316e-01 -1.67090154e-01 -1.01507871e-01 8.35913288e+01] [ 1.66202788e-01 9.85941621e-01 -1.71974674e-02 3.62601726e+00] [ 1.02954363e-01 -5.29505110e-06 9.94686081e-01 4.41986695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86863999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:83.65, Y:3.64, Z:4.41 [[ 9.81068477e-01 -1.64931609e-01 -1.01499795e-01 8.36508858e+01] [ 1.64027797e-01 9.86304969e-01 -1.72450017e-02 3.63642704e+00] [ 1.02953998e-01 2.69739698e-04 9.94686082e-01 4.40742372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92863999999999 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:83.71, Y:3.65, Z:4.43 [[ 9.81449010e-01 -1.62656979e-01 -1.01491614e-01 8.37068911e+01] [ 1.61736065e-01 9.86682521e-01 -1.72930204e-02 3.64790455e+00] [ 1.02952832e-01 5.57363552e-04 9.94686083e-01 4.42949078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98863999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:83.77, Y:3.66, Z:4.42 [[ 9.82152318e-01 -1.58360153e-01 -1.01483430e-01 8.37657387e+01] [ 1.57411396e-01 9.87380851e-01 -1.73409123e-02 3.66269164e+00] [ 1.02948905e-01 1.05676879e-03 9.94686084e-01 4.42027247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04863999999999 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:83.82, Y:3.68, Z:4.44 [[ 9.82603064e-01 -1.55543782e-01 -1.01475859e-01 8.38212200e+01] [ 1.54575476e-01 9.87828012e-01 -1.73851058e-02 3.67977138e+00] [ 1.02944841e-01 1.39697910e-03 9.94686085e-01 4.44184226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10863999999998 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:83.88, Y:3.70, Z:4.45 [[ 9.82976021e-01 -1.53169927e-01 -1.01474703e-01 8.38765919e+01] [ 1.52188308e-01 9.88198483e-01 -1.73918483e-02 3.70015557e+00] [ 1.02941056e-01 1.65250651e-03 9.94686085e-01 4.44721555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16863999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:83.93, Y:3.72, Z:4.44 [[ 9.82590147e-01 -1.55632237e-01 -1.01465317e-01 8.39344506e+01] [ 1.54658068e-01 9.87814003e-01 -1.74464415e-02 3.71992016e+00] [ 1.02944089e-01 1.45027162e-03 9.94686087e-01 4.43818022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22863999999998 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:83.99, Y:3.73, Z:4.46 [[ 9.81960207e-01 -1.59563504e-01 -1.01457578e-01 8.39891341e+01] [ 1.58605612e-01 9.87187071e-01 -1.74913303e-02 3.73393347e+00] [ 1.02948587e-01 1.08404912e-03 9.94686088e-01 4.46168663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28863999999999 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:84.05, Y:3.75, Z:4.46 [[ 9.81502637e-01 -1.62359482e-01 -1.01449357e-01 8.40450898e+01] [ 1.61411565e-01 9.86731318e-01 -1.75388820e-02 3.75388953e+00] [ 1.02950862e-01 8.39359373e-04 9.94686089e-01 4.46318997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34863999999999 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:84.10, Y:3.77, Z:4.45 [[ 9.80962434e-01 -1.65596951e-01 -1.01441375e-01 8.41047081e+01] [ 1.64661530e-01 9.86193364e-01 -1.75849263e-02 3.76984278e+00] [ 1.02952821e-01 5.46659998e-04 9.94686090e-01 4.45393953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40863999999999 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:84.16, Y:3.79, Z:4.48 [[ 9.81479970e-01 -1.62501803e-01 -1.01440788e-01 8.41598906e+01] [ 1.61549536e-01 9.86707859e-01 -1.75883145e-02 3.78738238e+00] [ 1.02950555e-01 8.74866138e-04 9.94686090e-01 4.47574708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46863999999998 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:84.21, Y:3.81, Z:4.48 [[ 9.81943890e-01 -1.59675662e-01 -1.01439050e-01 8.42136011e+01] [ 1.58707314e-01 9.87168824e-01 -1.75983329e-02 3.81298417e+00] [ 1.02947493e-01 1.18145630e-03 9.94686090e-01 4.48218305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52863999999998 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:84.27, Y:3.83, Z:4.49 [[ 9.81690984e-01 -1.61229125e-01 -1.01429683e-01 8.42692608e+01] [ 1.60263485e-01 9.86916418e-01 -1.76521570e-02 3.82659029e+00] [ 1.02948661e-01 1.07348890e-03 9.94686092e-01 4.48805977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:84.33, Y:3.85, Z:4.48 [[ 9.80469804e-01 -1.68501921e-01 -1.01420244e-01 8.43280987e+01] [ 1.67569450e-01 9.85701258e-01 -1.77062237e-02 3.84846876e+00] [ 1.02953595e-01 3.65483194e-04 9.94686093e-01 4.47772290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64863999999999 meters Centerline goodness : 0.999261 with order 1 Centerline is valid? [True, True] Translation: X:84.38, Y:3.87, Z:4.48 [[ 9.78382224e-01 -1.80228409e-01 -1.01419648e-01 8.43845334e+01] [ 1.79358284e-01 9.83624407e-01 -1.77096371e-02 3.86656809e+00] [ 1.02950621e-01 -8.63659840e-04 9.94686093e-01 4.48326197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70863999999999 meters Centerline goodness : 0.996606 with order 1 Centerline is valid? [True, True] Translation: X:84.44, Y:3.88, Z:4.51 [[ 9.77222161e-01 -1.86420316e-01 -1.01411605e-01 8.44405811e+01] [ 1.85578638e-01 9.82468986e-01 -1.77555735e-02 3.88333854e+00] [ 1.02943757e-01 -1.46868765e-03 9.94686094e-01 4.50614819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76863999999999 meters Centerline goodness : 0.996807 with order 1 Centerline is valid? [True, True] Translation: X:84.50, Y:3.90, Z:4.51 [[ 9.76914908e-01 -1.88024101e-01 -1.01411041e-01 8.44977345e+01] [ 1.87190702e-01 9.82163055e-01 -1.77587961e-02 3.89700423e+00] [ 1.02941259e-01 -1.63437128e-03 9.94686094e-01 4.50973011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82863999999998 meters Centerline goodness : 0.998477 with order 1 Centerline is valid? [True, True] Translation: X:84.56, Y:3.91, Z:4.50 [[ 9.75164680e-01 -1.96904079e-01 -1.01403306e-01 8.45586395e+01] [ 1.96113883e-01 9.80419504e-01 -1.78028514e-02 3.90763704e+00] [ 1.02923233e-01 -2.52588428e-03 9.94686095e-01 4.49880133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88863999999998 meters Centerline goodness : 0.998378 with order 1 Centerline is valid? [True, True] Translation: X:84.62, Y:3.91, Z:4.51 [[ 9.73163348e-01 -2.06568579e-01 -1.01402759e-01 8.46166470e+01] [ 2.05830228e-01 9.78425707e-01 -1.78059670e-02 3.91445455e+00] [ 1.02893220e-01 -3.54363865e-03 9.94686095e-01 4.50526189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94863999999998 meters Centerline goodness : 0.997641 with order 1 Centerline is valid? [True, True] Translation: X:84.68, Y:3.92, Z:4.51 [[ 9.71063906e-01 -2.16226519e-01 -1.01395178e-01 8.46757158e+01] [ 2.15535996e-01 9.76332754e-01 -1.78490367e-02 3.91712244e+00] [ 1.02854868e-01 -4.52175538e-03 9.94686096e-01 4.51202408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00863999999999 meters Centerline goodness : 0.998084 with order 1 Centerline is valid? [True, True] Translation: X:84.73, Y:3.92, Z:4.52 [[ 9.70650597e-01 -2.18077844e-01 -1.01387738e-01 8.47346684e+01] [ 2.17392975e-01 9.75920181e-01 -1.78911962e-02 3.91993673e+00] [ 1.02848013e-01 -4.67488179e-03 9.94686097e-01 4.51802720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06863999999999 meters Centerline goodness : 0.998134 with order 1 Centerline is valid? [True, True] Translation: X:84.79, Y:3.92, Z:4.52 [[ 9.71078258e-01 -2.16168992e-01 -1.01380387e-01 8.47941134e+01] [ 2.15469433e-01 9.76345912e-01 -1.79327580e-02 3.91877795e+00] [ 1.02858832e-01 -4.43026301e-03 9.94686098e-01 4.52363351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12863999999999 meters Centerline goodness : 0.997985 with order 1 Centerline is valid? [True, True] Translation: X:84.85, Y:3.92, Z:4.53 [[ 9.72924182e-01 -2.07706649e-01 -1.01372993e-01 8.48539818e+01] [ 2.06956917e-01 9.78184928e-01 -1.79744563e-02 3.91621669e+00] [ 1.02894948e-01 -3.49205887e-03 9.94686099e-01 4.52851773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18863999999999 meters Centerline goodness : 0.998179 with order 1 Centerline is valid? [True, True] Translation: X:84.91, Y:3.92, Z:4.53 [[ 9.74623372e-01 -1.99585378e-01 -1.01365476e-01 8.49120477e+01] [ 1.98787402e-01 9.79877016e-01 -1.80167494e-02 3.92158811e+00] [ 1.02921580e-01 -2.59063459e-03 9.94686100e-01 4.53386853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24863999999998 meters Centerline goodness : 0.994690 with order 1 Centerline is valid? [True, True] Translation: X:84.97, Y:3.93, Z:4.56 [[ 9.77668921e-01 -1.84092597e-01 -1.01357766e-01 8.49681376e+01] [ 1.83206859e-01 9.82908481e-01 -1.80600192e-02 3.92934284e+00] [ 1.02950124e-01 -9.12718461e-04 9.94686101e-01 4.56142224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30863999999998 meters Centerline goodness : 0.997643 with order 1 Centerline is valid? [True, True] Translation: X:85.03, Y:3.94, Z:4.55 [[ 9.79662423e-01 -1.73171512e-01 -1.01356624e-01 8.50288659e+01] [ 1.72226698e-01 9.84891653e-01 -1.80664301e-02 3.94173620e+00] [ 1.02953884e-01 2.42686137e-04 9.94686101e-01 4.54735097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36863999999998 meters Centerline goodness : 0.994024 with order 1 Centerline is valid? [True, True] Translation: X:85.08, Y:3.95, Z:4.58 [[ 9.80630421e-01 -1.67604178e-01 -1.01354903e-01 8.50846043e+01] [ 1.66628680e-01 9.85854015e-01 -1.80760784e-02 3.95361432e+00] [ 1.02950764e-01 8.37318638e-04 9.94686101e-01 4.57716929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42863999999999 meters Centerline goodness : 0.993939 with order 1 Centerline is valid? [True, True] Translation: X:85.14, Y:3.97, Z:4.58 [[ 9.81273931e-01 -1.63795283e-01 -1.01353721e-01 8.51412348e+01] [ 1.62798825e-01 9.86493567e-01 -1.80827009e-02 3.96822262e+00] [ 1.02946655e-01 1.24381625e-03 9.94686101e-01 4.58251620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48863999999999 meters Centerline goodness : 0.995232 with order 1 Centerline is valid? [True, True] Translation: X:85.21, Y:3.95, Z:4.57 [[ 9.68493613e-01 -2.27484643e-01 -1.01345245e-01 8.52052842e+01] [ 2.26826002e-01 9.73766535e-01 -1.81300832e-02 3.95384733e+00] [ 1.02810924e-01 -5.42886701e-03 9.94686102e-01 4.57040459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54863999999999 meters Centerline goodness : 0.916986 with order 3 Centerline is valid? [True, False] Translation: X:85.20, Y:3.97, Z:4.57 [[ 9.70843491e-01 -2.17952231e-01 -9.97985031e-02 8.51974841e+01] [ 2.16010519e-01 9.75930113e-01 -2.99978320e-02 3.97117436e+00] [ 1.03934459e-01 7.56567343e-03 9.94555372e-01 4.57355512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60863999999998 meters Centerline goodness : 0.993618 with order 1 Centerline is valid? [False, True] Translation: X:85.19, Y:3.99, Z:4.57 [[ 9.73917869e-01 -2.05431653e-01 -9.63421999e-02 8.51891885e+01] [ 2.02543969e-01 9.78497954e-01 -3.89576040e-02 3.99052686e+00] [ 1.02273770e-01 1.84279751e-02 9.94585585e-01 4.57471315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66863999999998 meters Centerline goodness : 0.994153 with order 1 Centerline is valid? [True, True] Translation: X:85.25, Y:3.99, Z:4.58 [[ 9.73065470e-01 -2.07698296e-01 -1.00025044e-01 8.52481827e+01] [ 2.06427283e-01 9.78191386e-01 -2.30084589e-02 3.99494892e+00] [ 1.02622454e-01 1.74083881e-03 9.94718855e-01 4.57845714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72863999999998 meters Centerline goodness : 0.993467 with order 1 Centerline is valid? [True, True] Translation: X:85.30, Y:4.02, Z:4.58 [[ 9.71273503e-01 -2.15928154e-01 -1.00014070e-01 8.53037909e+01] [ 2.14695678e-01 9.76408820e-01 -2.30560629e-02 4.01571897e+00] [ 1.02633073e-01 9.21154477e-04 9.94718857e-01 4.58359453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78863999999999 meters Centerline goodness : 0.993865 with order 1 Centerline is valid? [True, True] Translation: X:85.36, Y:4.03, Z:4.59 [[ 9.69681608e-01 -2.22973047e-01 -1.00002997e-01 8.53600023e+01] [ 2.21772939e-01 9.74824584e-01 -2.31039913e-02 4.03407653e+00] [ 1.02636947e-01 2.25556865e-04 9.94718858e-01 4.58960142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84863999999999 meters Centerline goodness : 0.993897 with order 1 Centerline is valid? [True, True] Translation: X:85.42, Y:4.05, Z:4.60 [[ 9.68581595e-01 -2.27708798e-01 -9.99919873e-02 8.54161680e+01] [ 2.26528926e-01 9.73729250e-01 -2.31515431e-02 4.05036067e+00] [ 1.02636933e-01 -2.26918854e-04 9.94718859e-01 4.59860895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90863999999999 meters Centerline goodness : 0.997008 with order 1 Centerline is valid? [True, True] Translation: X:85.47, Y:4.06, Z:4.59 [[ 9.67827969e-01 -2.30895573e-01 -9.99812779e-02 8.54748430e+01] [ 2.29727882e-01 9.72978400e-01 -2.31977005e-02 4.06338287e+00] [ 1.02635870e-01 -5.17103830e-04 9.94718860e-01 4.58815927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96863999999998 meters Centerline goodness : 0.998035 with order 1 Centerline is valid? [True, True] Translation: X:85.53, Y:4.07, Z:4.60 [[ 9.67461700e-01 -2.32430068e-01 -9.99706100e-02 8.55318252e+01] [ 2.31265805e-01 9.72612905e-01 -2.32435840e-02 4.07489531e+00] [ 1.02635213e-01 -6.32506272e-04 9.94718861e-01 4.59657383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02863999999998 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:85.59, Y:4.09, Z:4.60 [[ 9.67516744e-01 -2.32205342e-01 -9.99601344e-02 8.55886866e+01] [ 2.31035237e-01 9.72666625e-01 -2.32885480e-02 4.08645034e+00] [ 1.02635612e-01 -5.62253193e-04 9.94718862e-01 4.60256563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08863999999998 meters Centerline goodness : 0.996856 with order 1 Centerline is valid? [True, True] Translation: X:85.64, Y:4.10, Z:4.63 [[ 9.67399427e-01 -2.32698783e-01 -9.99481131e-02 8.56434564e+01] [ 2.31525985e-01 9.72548693e-01 -2.33400272e-02 4.09838424e+00] [ 1.02635603e-01 -5.61456435e-04 9.94718864e-01 4.62765969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14863999999999 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:85.70, Y:4.11, Z:4.61 [[ 9.67387719e-01 -2.32752047e-01 -9.99374065e-02 8.57027651e+01] [ 2.31574806e-01 9.72535971e-01 -2.33857815e-02 4.11053995e+00] [ 1.02635811e-01 -5.19867747e-04 9.94718865e-01 4.61477964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20863999999999 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:85.76, Y:4.13, Z:4.62 [[ 9.68154993e-01 -2.29544187e-01 -9.99268497e-02 8.57580093e+01] [ 2.28345240e-01 9.73298232e-01 -2.34308041e-02 4.12655543e+00] [ 1.02637031e-01 -1.33170540e-04 9.94718866e-01 4.62172612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26863999999999 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:85.81, Y:4.15, Z:4.65 [[ 9.69790696e-01 -2.22537787e-01 -9.99146574e-02 8.58105277e+01] [ 2.21296339e-01 9.74923840e-01 -2.34826809e-02 4.14650882e+00] [ 1.02634965e-01 6.62537615e-04 9.94718867e-01 4.64778610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32863999999998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:85.87, Y:4.17, Z:4.65 [[ 9.71133158e-01 -2.16609960e-01 -9.99025226e-02 8.58665039e+01] [ 2.15331881e-01 9.76257304e-01 -2.35341935e-02 4.16644558e+00] [ 1.02628308e-01 1.34263759e-03 9.94718869e-01 4.65188016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38863999999998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:85.92, Y:4.19, Z:4.66 [[ 9.71694748e-01 -2.14081689e-01 -9.98916731e-02 8.59214029e+01] [ 2.12785555e-01 9.76814355e-01 -2.35801553e-02 4.18917449e+00] [ 1.02623700e-01 1.65720803e-03 9.94718870e-01 4.66305895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:85.98, Y:4.21, Z:4.67 [[ 9.70847882e-01 -2.17890698e-01 -9.98901114e-02 8.59781569e+01] [ 2.16613970e-01 9.75972362e-01 -2.35867692e-02 4.20836958e+00] [ 1.02629326e-01 1.26157130e-03 9.94718870e-01 4.66743872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.04, Y:4.23, Z:4.65 [[ 9.69663438e-01 -2.23102975e-01 -9.98893323e-02 8.60366195e+01] [ 2.21853455e-01 9.74794621e-01 -2.35900684e-02 4.22517579e+00] [ 1.02634598e-01 7.13633378e-04 9.94718870e-01 4.65354283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:86.09, Y:4.24, Z:4.66 [[ 9.67182563e-01 -2.33628403e-01 -9.98782253e-02 8.60932901e+01] [ 2.32429877e-01 9.72325894e-01 -2.36370015e-02 4.23863296e+00] [ 1.02636460e-01 -3.53388024e-04 9.94718871e-01 4.65926588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62863999999999 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:86.15, Y:4.25, Z:4.69 [[ 9.65064162e-01 -2.42234736e-01 -9.98673872e-02 8.61480595e+01] [ 2.41077345e-01 9.70216905e-01 -2.36827049e-02 4.24982306e+00] [ 1.02629801e-01 -1.22043485e-03 9.94718872e-01 4.68922612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68863999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:86.21, Y:4.26, Z:4.69 [[ 9.64956500e-01 -2.42667640e-01 -9.98567489e-02 8.62064122e+01] [ 2.41507927e-01 9.70108720e-01 -2.37274769e-02 4.26168243e+00] [ 1.02629794e-01 -1.22021338e-03 9.94718873e-01 4.68938678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74863999999998 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [True, True] Translation: X:86.27, Y:4.25, Z:4.68 [[ 9.50510365e-01 -2.94209322e-01 -9.98545002e-02 8.62726935e+01] [ 2.93327371e-01 9.55717328e-01 -2.37369362e-02 4.24633379e+00] [ 1.02416304e-01 -6.72785419e-03 9.94718873e-01 4.67711069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:86.33, Y:4.28, Z:4.68 [[ 9.63494772e-01 -2.48412763e-01 -9.98444973e-02 8.63257103e+01] [ 2.47278438e-01 9.68652640e-01 -2.37789374e-02 4.27549155e+00] [ 1.02621627e-01 -1.77850948e-03 9.94718874e-01 4.68209500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86863999999998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:86.38, Y:4.29, Z:4.71 [[ 9.62993491e-01 -2.50353129e-01 -9.98340948e-02 8.63813791e+01] [ 2.49224679e-01 9.68152646e-01 -2.38225321e-02 4.28509458e+00] [ 1.02618689e-01 -1.94017685e-03 9.94718875e-01 4.71063043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92863999999999 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:86.44, Y:4.29, Z:4.72 [[ 9.65159372e-01 -2.41870076e-01 -9.98311180e-02 8.64395103e+01] [ 2.40694984e-01 9.70308104e-01 -2.38350002e-02 4.29404837e+00] [ 1.02631916e-01 -1.02427552e-03 9.94718875e-01 4.71752245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98863999999999 meters Centerline goodness : 0.945865 with order 1 Centerline is valid? [True, False] Translation: X:86.50, Y:4.31, Z:4.72 [[ 9.67652470e-01 -2.22014371e-01 -1.19826196e-01 8.64976430e+01] [ 2.19169102e-01 9.75000502e-01 -3.65913350e-02 4.31287511e+00] [ 1.24954404e-01 9.14549581e-03 9.92120334e-01 4.72433634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04863999999999 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [False, True] Translation: X:86.52, Y:4.33, Z:4.73 [[ 9.70793116e-01 -2.02539205e-01 -1.28602475e-01 8.65169202e+01] [ 1.96506107e-01 9.78778586e-01 -5.81191065e-02 4.33407140e+00] [ 1.37644746e-01 3.11504569e-02 9.89991704e-01 4.72978018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10863999999998 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:86.58, Y:4.32, Z:4.73 [[ 9.72639450e-01 -1.89128633e-01 -1.34917973e-01 8.65796776e+01] [ 1.87075650e-01 9.81950577e-01 -2.78525773e-02 4.32481445e+00] [ 1.37750501e-01 1.85064804e-03 9.90465231e-01 4.73022624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:86.64, Y:4.34, Z:4.72 [[ 9.74335043e-01 -1.80195199e-01 -1.34910762e-01 8.66379919e+01] [ 1.78052031e-01 9.83625825e-01 -2.78874612e-02 4.34293673e+00] [ 1.37726897e-01 3.15059548e-03 9.90465232e-01 4.72393693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22863999999998 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:86.69, Y:4.36, Z:4.75 [[ 9.74257655e-01 -1.80622114e-01 -1.34898750e-01 8.66899763e+01] [ 1.78474991e-01 9.83547523e-01 -2.79454504e-02 4.35961013e+00] [ 1.37726897e-01 3.15001583e-03 9.90465234e-01 4.75064719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:86.75, Y:4.38, Z:4.74 [[ 9.74832520e-01 -1.77504467e-01 -1.34884105e-01 8.67470422e+01] [ 1.75317887e-01 9.84113177e-01 -2.80159584e-02 4.38064192e+00] [ 1.37714183e-01 3.66327114e-03 9.90465236e-01 4.74143533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:86.80, Y:4.40, Z:4.75 [[ 9.73851814e-01 -1.82811869e-01 -1.34879447e-01 8.68015192e+01] [ 1.80672772e-01 9.83143529e-01 -2.80383684e-02 4.40020311e+00] [ 1.37731602e-01 2.93617242e-03 9.90465237e-01 4.75019028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40863999999999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:86.86, Y:4.41, Z:4.76 [[ 9.72264438e-01 -1.91084995e-01 -1.34864328e-01 8.68575207e+01] [ 1.89014913e-01 9.81571770e-01 -2.81109042e-02 4.41413493e+00] [ 1.37750589e-01 1.83986325e-03 9.90465239e-01 4.75865991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:86.91, Y:4.43, Z:4.77 [[ 9.71228982e-01 -1.96290353e-01 -1.34849405e-01 8.69137449e+01] [ 1.94260243e-01 9.80545111e-01 -2.81823089e-02 4.42696888e+00] [ 1.37757840e-01 1.17559700e-03 9.90465242e-01 4.76841941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:86.97, Y:4.44, Z:4.78 [[ 9.69252647e-01 -2.05835925e-01 -1.34836489e-01 8.69703444e+01] [ 2.03888988e-01 9.78586510e-01 -2.82439743e-02 4.43514857e+00] [ 1.37762793e-01 -1.16128342e-04 9.90465244e-01 4.77583549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.03, Y:4.44, Z:4.78 [[ 9.67802523e-01 -2.12559175e-01 -1.34821638e-01 8.70277627e+01] [ 2.10667226e-01 9.77147685e-01 -2.83146884e-02 4.44209007e+00] [ 1.37759198e-01 -9.99473545e-04 9.90465246e-01 4.78451212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.09, Y:4.44, Z:4.79 [[ 9.66234364e-01 -2.19586560e-01 -1.34806890e-01 8.70864317e+01] [ 2.17752801e-01 9.75591115e-01 -2.83847316e-02 4.44477926e+00] [ 1.37749310e-01 -1.92827488e-03 9.90465249e-01 4.79138452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70863999999999 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:87.14, Y:4.45, Z:4.82 [[ 9.65955418e-01 -2.20819266e-01 -1.34792366e-01 8.71418241e+01] [ 2.18987849e-01 9.75312626e-01 -2.84535358e-02 4.44775974e+00] [ 1.37747786e-01 -2.03304329e-03 9.90465251e-01 4.82208200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.21, Y:4.45, Z:4.81 [[ 9.65212809e-01 -2.24045118e-01 -1.34788793e-01 8.72055911e+01] [ 2.22242610e-01 9.74575628e-01 -2.84704532e-02 4.44754361e+00] [ 1.37740539e-01 -2.47576710e-03 9.90465252e-01 4.80780456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.26, Y:4.45, Z:4.81 [[ 9.65199534e-01 -2.24103397e-01 -1.34786967e-01 8.72639876e+01] [ 2.22300248e-01 9.74562230e-01 -2.84790981e-02 4.44993770e+00] [ 1.37740549e-01 -2.47516383e-03 9.90465252e-01 4.81449611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:87.32, Y:4.45, Z:4.82 [[ 9.66337965e-01 -2.19151310e-01 -1.34772553e-01 8.73221818e+01] [ 2.17290686e-01 9.75689407e-01 -2.85471474e-02 4.45355835e+00] [ 1.37752297e-01 -1.69862819e-03 9.90465254e-01 4.82388157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.38, Y:4.46, Z:4.83 [[ 9.68552384e-01 -2.09155610e-01 -1.34759827e-01 8.73806603e+01] [ 2.07190127e-01 9.77882347e-01 -2.86070986e-02 4.45945797e+00] [ 1.37762591e-01 -2.13432051e-04 9.90465256e-01 4.83137542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.44, Y:4.47, Z:4.84 [[ 9.70431630e-01 -2.00264190e-01 -1.34746823e-01 8.74381354e+01] [ 1.98204737e-01 9.79741300e-01 -2.86682197e-02 4.46946704e+00] [ 1.37758245e-01 1.11308855e-03 9.90465258e-01 4.83859404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06863999999999 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:87.49, Y:4.49, Z:4.87 [[ 9.72253673e-01 -1.91231874e-01 -1.34733684e-01 8.74921655e+01] [ 1.89077407e-01 9.81541813e-01 -2.87298381e-02 4.48580474e+00] [ 1.37740805e-01 2.45759506e-03 9.90465260e-01 4.86663540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:87.55, Y:4.50, Z:4.85 [[ 9.72808839e-01 -1.88388704e-01 -1.34731806e-01 8.75510565e+01] [ 1.86205874e-01 9.82090354e-01 -2.87386422e-02 4.50342553e+00] [ 1.37732843e-01 2.86935150e-03 9.90465260e-01 4.85432675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18863999999998 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:87.60, Y:4.53, Z:4.88 [[ 9.73686338e-01 -1.83802317e-01 -1.34727961e-01 8.76025113e+01] [ 1.81573282e-01 9.82956865e-01 -2.87566554e-02 4.52545082e+00] [ 1.37717314e-01 3.53696444e-03 9.90465260e-01 4.88372465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24863999999998 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:87.66, Y:4.54, Z:4.89 [[ 9.73125571e-01 -1.86758238e-01 -1.34714453e-01 8.76586198e+01] [ 1.84548628e-01 9.82400745e-01 -2.88198001e-02 4.54443343e+00] [ 1.37725914e-01 3.18391697e-03 9.90465262e-01 4.88992465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:87.72, Y:4.56, Z:4.88 [[ 9.72119811e-01 -1.91934314e-01 -1.34700753e-01 8.77170325e+01] [ 1.89765244e-01 9.81404547e-01 -2.88836941e-02 4.56490228e+00] [ 1.37739703e-01 2.51689013e-03 9.90465264e-01 4.87582369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36863999999998 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:87.77, Y:4.58, Z:4.90 [[ 9.72250055e-01 -1.91276235e-01 -1.34696819e-01 8.77717835e+01] [ 1.89098342e-01 9.81532725e-01 -2.89020243e-02 4.57741442e+00] [ 1.37737607e-01 2.62904948e-03 9.90465264e-01 4.90313564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42863999999999 meters Centerline goodness : 0.998427 with order 1 Centerline is valid? [True, True] Translation: X:87.83, Y:4.59, Z:4.91 [[ 9.71273035e-01 -1.96179063e-01 -1.34693976e-01 8.78272797e+01] [ 1.94046194e-01 9.80566154e-01 -2.89152716e-02 4.58976917e+00] [ 1.37748924e-01 1.94777027e-03 9.90465264e-01 4.91162423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:87.89, Y:4.60, Z:4.90 [[ 9.70440843e-01 -2.00265522e-01 -1.34678471e-01 8.78878904e+01] [ 1.98161792e-01 9.79740598e-01 -2.89873075e-02 4.60160650e+00] [ 1.37755124e-01 1.44233985e-03 9.90465267e-01 4.89734208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54863999999999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:87.95, Y:4.61, Z:4.91 [[ 9.69138010e-01 -2.06486313e-01 -1.34665960e-01 8.79460093e+01] [ 2.04434218e-01 9.78449293e-01 -2.90453186e-02 4.60961712e+00] [ 1.37761274e-01 6.18592048e-04 9.90465269e-01 4.90508015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60863999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:88.00, Y:4.62, Z:4.91 [[ 9.68107787e-01 -2.11272255e-01 -1.34652687e-01 8.80044760e+01] [ 2.09257651e-01 9.77427253e-01 -2.91067230e-02 4.61602736e+00] [ 1.37762649e-01 1.34034225e-06 9.90465271e-01 4.91290681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66863999999998 meters Centerline goodness : 0.994099 with order 1 Centerline is valid? [True, True] Translation: X:88.06, Y:4.62, Z:4.95 [[ 9.67632522e-01 -2.13446748e-01 -1.34639478e-01 8.80587274e+01] [ 2.11444602e-01 9.76954669e-01 -2.91676955e-02 4.62424361e+00] [ 1.37762417e-01 -2.45180199e-04 9.90465273e-01 4.94788502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:88.12, Y:4.63, Z:4.93 [[ 9.67599788e-01 -2.13603412e-01 -1.34626269e-01 8.81190212e+01] [ 2.11594310e-01 9.76920437e-01 -2.92285376e-02 4.63317386e+00] [ 1.37762469e-01 -2.04625658e-04 9.90465275e-01 4.92930503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78863999999999 meters Centerline goodness : 0.992427 with order 1 Centerline is valid? [True, True] Translation: X:88.17, Y:4.64, Z:4.96 [[ 9.68093154e-01 -2.11365812e-01 -1.34611067e-01 8.81725455e+01] [ 2.09325454e-01 9.77407008e-01 -2.92983849e-02 4.64295035e+00] [ 1.37762477e-01 1.86043048e-04 9.90465277e-01 4.96447913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84863999999999 meters Centerline goodness : 0.992817 with order 1 Centerline is valid? [True, True] Translation: X:88.23, Y:4.65, Z:4.97 [[ 9.68727999e-01 -2.08445620e-01 -1.34597500e-01 8.82294847e+01] [ 2.06368544e-01 9.78033732e-01 -2.93605814e-02 4.65366349e+00] [ 1.37760980e-01 6.65727206e-04 9.90465279e-01 4.97051539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90863999999999 meters Centerline goodness : 0.995970 with order 1 Centerline is valid? [True, True] Translation: X:88.29, Y:4.67, Z:4.97 [[ 9.69853515e-01 -2.03154788e-01 -1.34581916e-01 8.82869279e+01] [ 2.01017060e-01 9.79145499e-01 -2.94318445e-02 4.66822994e+00] [ 1.37754497e-01 1.49131681e-03 9.90465282e-01 4.97355530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96863999999998 meters Centerline goodness : 0.992026 with order 1 Centerline is valid? [True, True] Translation: X:88.34, Y:4.68, Z:4.99 [[ 9.70223512e-01 -2.01382304e-01 -1.34578993e-01 8.83436737e+01] [ 1.99225748e-01 9.79511144e-01 -2.94452029e-02 4.68180680e+00] [ 1.37751366e-01 1.75682755e-03 9.90465282e-01 4.98704165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02863999999998 meters Centerline goodness : 0.989367 with order 1 Centerline is valid? [True, True] Translation: X:88.40, Y:4.69, Z:5.00 [[ 9.70318205e-01 -2.00926868e-01 -1.34577023e-01 8.84005844e+01] [ 1.98764705e-01 9.79604534e-01 -2.94542040e-02 4.69408407e+00] [ 1.37750403e-01 1.83078812e-03 9.90465282e-01 4.99920126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:88.46, Y:4.70, Z:4.98 [[ 9.69362728e-01 -2.05495500e-01 -1.34564115e-01 8.84636265e+01] [ 2.03368936e-01 9.78657272e-01 -2.95130575e-02 4.70496802e+00] [ 1.37756950e-01 1.24269699e-03 9.90465284e-01 4.97972052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14863999999999 meters Centerline goodness : 0.991298 with order 1 Centerline is valid? [True, True] Translation: X:88.52, Y:4.71, Z:5.01 [[ 9.68584974e-01 -2.09130691e-01 -1.34564115e-01 8.85178211e+01] [ 2.07039012e-01 9.77887431e-01 -2.95130575e-02 4.71435399e+00] [ 1.37760643e-01 7.25882577e-04 9.90465284e-01 5.01443973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20863999999999 meters Centerline goodness : 0.992282 with order 1 Centerline is valid? [True, True] Translation: X:88.58, Y:4.72, Z:5.02 [[ 9.68194359e-01 -2.10939843e-01 -1.34551350e-01 8.85761028e+01] [ 2.08857473e-01 9.77498902e-01 -2.95711432e-02 4.72263741e+00] [ 1.37761529e-01 5.28559184e-04 9.90465286e-01 5.02048408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26863999999999 meters Centerline goodness : 0.991061 with order 1 Centerline is valid? [True, True] Translation: X:88.63, Y:4.73, Z:5.03 [[ 9.67504834e-01 -2.14088905e-01 -1.34537489e-01 8.86342663e+01] [ 2.12028070e-01 9.76814168e-01 -2.96340719e-02 4.73136531e+00] [ 1.37762451e-01 1.45383698e-04 9.90465288e-01 5.02904184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32863999999998 meters Centerline goodness : 0.991472 with order 1 Centerline is valid? [True, True] Translation: X:88.69, Y:4.74, Z:5.04 [[ 9.66621446e-01 -2.18050846e-01 -1.34524379e-01 8.86922338e+01] [ 2.16019901e-01 9.75937345e-01 -2.96934661e-02 4.73933917e+00] [ 1.37762051e-01 -3.57601864e-04 9.90465289e-01 5.03734074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:88.75, Y:4.75, Z:5.02 [[ 9.65426342e-01 -2.23291028e-01 -1.34510578e-01 8.87547490e+01] [ 2.21301953e-01 9.74751268e-01 -2.97558568e-02 4.74648810e+00] [ 1.37758572e-01 -1.04036558e-03 9.90465291e-01 5.01638805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:88.81, Y:4.75, Z:5.02 [[ 9.64531531e-01 -2.27126850e-01 -1.34507694e-01 8.88120965e+01] [ 2.25173041e-01 9.73863910e-01 -2.97688865e-02 4.75415311e+00] [ 1.37753502e-01 -1.57447684e-03 9.90465292e-01 5.02495484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50863999999999 meters Centerline goodness : 0.991289 with order 1 Centerline is valid? [True, True] Translation: X:88.87, Y:4.76, Z:5.06 [[ 9.62811050e-01 -2.34321785e-01 -1.34492318e-01 8.88684460e+01] [ 2.32428028e-01 9.72155797e-01 -2.98381930e-02 4.75731917e+00] [ 1.37739225e-01 -2.53124232e-03 9.90465294e-01 5.06238447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56863999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:88.93, Y:4.76, Z:5.04 [[ 9.61822958e-01 -2.38345694e-01 -1.34491368e-01 8.89324128e+01] [ 2.36490430e-01 9.71175424e-01 -2.98424760e-02 4.76127721e+00] [ 1.37727537e-01 -3.10274285e-03 9.90465294e-01 5.04124506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:88.99, Y:4.76, Z:5.05 [[ 9.61515401e-01 -2.39584190e-01 -1.34489963e-01 8.89911933e+01] [ 2.37740087e-01 9.70870074e-01 -2.98488049e-02 4.76459495e+00] [ 1.37723582e-01 -3.27356992e-03 9.90465294e-01 5.05120222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68863999999998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:89.05, Y:4.77, Z:5.06 [[ 9.62101889e-01 -2.37225550e-01 -1.34476743e-01 8.90488011e+01] [ 2.35350207e-01 9.71450347e-01 -2.99082487e-02 4.77160837e+00] [ 1.37732479e-01 -2.87434678e-03 9.90465296e-01 5.05835442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74863999999998 meters Centerline goodness : 0.987400 with order 1 Centerline is valid? [True, True] Translation: X:89.10, Y:4.78, Z:5.10 [[ 9.63199251e-01 -2.32738638e-01 -1.34461625e-01 8.91032430e+01] [ 2.30810278e-01 9.72536915e-01 -2.99760637e-02 4.77681058e+00] [ 1.37745482e-01 -2.16220291e-03 9.90465298e-01 5.10304870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80863999999998 meters Centerline goodness : 0.994927 with order 1 Centerline is valid? [True, True] Translation: X:89.16, Y:4.79, Z:5.10 [[ 9.64160898e-01 -2.28722968e-01 -1.34460283e-01 8.91637497e+01] [ 2.26754875e-01 9.73490268e-01 -2.99820828e-02 4.78555126e+00] [ 1.37753368e-01 -1.58197274e-03 9.90465298e-01 5.10264905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86863999999998 meters Centerline goodness : 0.994089 with order 1 Centerline is valid? [True, True] Translation: X:89.22, Y:4.80, Z:5.11 [[ 9.65325984e-01 -2.23755337e-01 -1.34459264e-01 8.92211100e+01] [ 2.21738596e-01 9.74644959e-01 -2.99866515e-02 4.79685168e+00] [ 1.37759717e-01 -8.67914498e-04 9.90465298e-01 5.11276791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92863999999999 meters Centerline goodness : 0.994246 with order 1 Centerline is valid? [True, True] Translation: X:89.28, Y:4.81, Z:5.12 [[ 9.66374360e-01 -2.19187731e-01 -1.34451982e-01 8.92788099e+01] [ 2.17122404e-01 9.75682687e-01 -3.00192643e-02 4.80807753e+00] [ 1.37762326e-01 -1.82690333e-04 9.90465299e-01 5.12019520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98863999999999 meters Centerline goodness : 0.994883 with order 1 Centerline is valid? [True, True] Translation: X:89.34, Y:4.82, Z:5.13 [[ 9.66566900e-01 -2.18345791e-01 -1.34437882e-01 8.93350551e+01] [ 2.16263591e-01 9.75871465e-01 -3.00822793e-02 4.82150854e+00] [ 1.37762432e-01 2.51620863e-06 9.90465301e-01 5.12868882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04863999999999 meters Centerline goodness : 0.991200 with order 1 Centerline is valid? [True, True] Translation: X:89.39, Y:4.84, Z:5.14 [[ 9.66803461e-01 -2.17304720e-01 -1.34423686e-01 8.93923340e+01] [ 2.15203699e-01 9.76103792e-01 -3.01455819e-02 4.83516184e+00] [ 1.37762247e-01 2.16378434e-04 9.90465303e-01 5.14010092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10863999999998 meters Centerline goodness : 0.993655 with order 1 Centerline is valid? [True, True] Translation: X:89.45, Y:4.85, Z:5.15 [[ 9.65985770e-01 -2.20911838e-01 -1.34422662e-01 8.94504886e+01] [ 2.18844910e-01 9.75293737e-01 -3.01501488e-02 4.84805913e+00] [ 1.37762105e-01 -2.93100643e-04 9.90465303e-01 5.14584304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16863999999998 meters Centerline goodness : 0.994002 with order 1 Centerline is valid? [True, True] Translation: X:89.51, Y:4.86, Z:5.16 [[ 9.65087093e-01 -2.24806579e-01 -1.34420627e-01 8.95079591e+01] [ 2.22775950e-01 9.74403047e-01 -3.01592171e-02 4.85971490e+00] [ 1.37759859e-01 -8.39411866e-04 9.90465303e-01 5.15537212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22863999999998 meters Centerline goodness : 0.991689 with order 1 Centerline is valid? [True, True] Translation: X:89.56, Y:4.87, Z:5.17 [[ 9.64816073e-01 -2.25974754e-01 -1.34407422e-01 8.95646865e+01] [ 2.23947222e-01 9.74132700e-01 -3.02179559e-02 4.87228530e+00] [ 1.37759160e-01 -9.45399206e-04 9.90465305e-01 5.16608817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28863999999999 meters Centerline goodness : 0.992965 with order 1 Centerline is valid? [True, True] Translation: X:89.62, Y:4.89, Z:5.17 [[ 9.64559668e-01 -2.27075119e-01 -1.34393217e-01 8.96227191e+01] [ 2.25049431e-01 9.73876694e-01 -3.02810028e-02 4.88515855e+00] [ 1.37758484e-01 -1.03728288e-03 9.90465307e-01 5.17202960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:89.68, Y:4.90, Z:5.15 [[ 9.65230051e-01 -2.24209621e-01 -1.34391197e-01 8.96844119e+01] [ 2.22155025e-01 9.74540745e-01 -3.02899635e-02 4.89836874e+00] [ 1.37760998e-01 -6.18896667e-04 9.90465307e-01 5.15262066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40863999999999 meters Centerline goodness : 0.992676 with order 1 Centerline is valid? [True, True] Translation: X:89.74, Y:4.91, Z:5.19 [[ 9.65372827e-01 -2.23595076e-01 -1.34389536e-01 8.97379700e+01] [ 2.21533527e-01 9.74681983e-01 -3.02973309e-02 4.91038502e+00] [ 1.37761394e-01 -5.23567969e-04 9.90465307e-01 5.18998107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46863999999998 meters Centerline goodness : 0.992971 with order 1 Centerline is valid? [True, True] Translation: X:89.79, Y:4.92, Z:5.20 [[ 9.65548621e-01 -2.22835834e-01 -1.34387692e-01 8.97948301e+01] [ 2.20765827e-01 9.74855900e-01 -3.03055092e-02 4.92100962e+00] [ 1.37761788e-01 -4.06767357e-04 9.90465307e-01 5.19934149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52863999999998 meters Centerline goodness : 0.996261 with order 1 Centerline is valid? [True, True] Translation: X:89.85, Y:4.94, Z:5.20 [[ 9.66480529e-01 -2.18767489e-01 -1.34373262e-01 8.98522546e+01] [ 2.16649426e-01 9.75776987e-01 -3.03693562e-02 4.93563737e+00] [ 1.37762165e-01 2.39501272e-04 9.90465309e-01 5.20455671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58863999999998 meters Centerline goodness : 0.995224 with order 1 Centerline is valid? [True, True] Translation: X:89.91, Y:4.95, Z:5.21 [[ 9.66966008e-01 -2.16613475e-01 -1.34370166e-01 8.99081932e+01] [ 2.14472800e-01 9.76257286e-01 -3.03830498e-02 4.94735597e+00] [ 1.37761232e-01 5.60630596e-04 9.90465309e-01 5.21341274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64863999999999 meters Centerline goodness : 0.995520 with order 1 Centerline is valid? [True, True] Translation: X:89.96, Y:4.96, Z:5.22 [[ 9.67157315e-01 -2.15768064e-01 -1.34353532e-01 8.99638559e+01] [ 2.13609073e-01 9.76444350e-01 -3.04564308e-02 4.96347526e+00] [ 1.37760272e-01 7.57026374e-04 9.90465312e-01 5.22049320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70863999999999 meters Centerline goodness : 0.996602 with order 1 Centerline is valid? [True, True] Translation: X:90.02, Y:4.98, Z:5.23 [[ 9.66845042e-01 -2.17167917e-01 -1.34345675e-01 9.00203336e+01] [ 2.15017563e-01 9.76134081e-01 -3.04910489e-02 4.97827874e+00] [ 1.37761069e-01 5.93439857e-04 9.90465313e-01 5.22881813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76863999999999 meters Centerline goodness : 0.995424 with order 1 Centerline is valid? [True, True] Translation: X:90.08, Y:5.00, Z:5.24 [[ 9.67115309e-01 -2.15970204e-01 -1.34331120e-01 9.00774216e+01] [ 2.13799457e-01 9.76399601e-01 -3.05550402e-02 4.99522388e+00] [ 1.37759830e-01 8.30326667e-04 9.90465315e-01 5.23703470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.14, Y:5.01, Z:5.22 [[ 9.66692010e-01 -2.17858445e-01 -1.34328908e-01 9.01386611e+01] [ 2.15704482e-01 9.75980211e-01 -3.05647609e-02 5.01139418e+00] [ 1.37761147e-01 5.71362621e-04 9.90465315e-01 5.22067178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88863999999998 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:90.19, Y:5.03, Z:5.25 [[ 9.66558690e-01 -2.18449396e-01 -1.34328555e-01 9.01923387e+01] [ 2.16300898e-01 9.75848155e-01 -3.05663098e-02 5.02659792e+00] [ 1.37761465e-01 4.88745225e-04 9.90465315e-01 5.25219274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94863999999998 meters Centerline goodness : 0.997642 with order 1 Centerline is valid? [True, True] Translation: X:90.25, Y:5.04, Z:5.26 [[ 9.66397670e-01 -2.19161895e-01 -1.34326496e-01 9.02476094e+01] [ 2.17018988e-01 9.75688427e-01 -3.05753575e-02 5.04405556e+00] [ 1.37761761e-01 3.96554002e-04 9.90465315e-01 5.25746635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.31, Y:5.07, Z:5.24 [[ 9.65798281e-01 -2.21798446e-01 -1.34309827e-01 9.03057670e+01] [ 2.19670743e-01 9.75092529e-01 -3.06484062e-02 5.06807361e+00] [ 1.37762278e-01 9.62384751e-05 9.90465318e-01 5.24351680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:90.36, Y:5.08, Z:5.25 [[ 9.65116350e-01 -2.24748436e-01 -1.34307751e-01 9.03616999e+01] [ 2.22647876e-01 9.74416770e-01 -3.06575044e-02 5.08370668e+00] [ 1.37761951e-01 -3.15276587e-04 9.90465318e-01 5.25249769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:90.42, Y:5.10, Z:5.26 [[ 9.63686227e-01 -2.30811875e-01 -1.34293466e-01 9.04169063e+01] [ 2.28761127e-01 9.72997755e-01 -3.07199509e-02 5.10281112e+00] [ 1.37757770e-01 -1.11673108e-03 9.90465320e-01 5.25877716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.47, Y:5.11, Z:5.27 [[ 9.61558651e-01 -2.39528691e-01 -1.34279435e-01 9.04744832e+01] [ 2.37553798e-01 9.70886560e-01 -3.07811602e-02 5.11417165e+00] [ 1.37743070e-01 -2.30069893e-03 9.90465322e-01 5.26543554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.53, Y:5.13, Z:5.27 [[ 9.60917309e-01 -2.42096429e-01 -1.34265576e-01 9.05306682e+01] [ 2.40138033e-01 9.70248694e-01 -3.08414959e-02 5.12824236e+00] [ 1.37737616e-01 -2.60614409e-03 9.90465324e-01 5.27482589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.59, Y:5.14, Z:5.28 [[ 9.61796812e-01 -2.38586093e-01 -1.34251884e-01 9.05866705e+01] [ 2.36585336e-01 9.71119204e-01 -3.09009823e-02 5.14346939e+00] [ 1.37747128e-01 -2.04156080e-03 9.90465325e-01 5.28262274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.64, Y:5.16, Z:5.29 [[ 9.63121850e-01 -2.33187622e-01 -1.34237982e-01 9.06419623e+01] [ 2.31126206e-01 9.72431014e-01 -3.09612571e-02 5.16026136e+00] [ 1.37756959e-01 -1.20645232e-03 9.90465327e-01 5.29140799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.70, Y:5.18, Z:5.30 [[ 9.63479052e-01 -2.31716469e-01 -1.34222185e-01 9.06970837e+01] [ 2.29631318e-01 9.72782927e-01 -3.10295918e-02 5.17625954e+00] [ 1.37759117e-01 -9.25255666e-04 9.90465330e-01 5.29946864e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:90.75, Y:5.20, Z:5.31 [[ 9.64233795e-01 -2.28564972e-01 -1.34205969e-01 9.07510273e+01] [ 2.26439671e-01 9.73528578e-01 -3.10995723e-02 5.19684789e+00] [ 1.37761619e-01 -4.02296872e-04 9.90465332e-01 5.30978532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54863999999998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:90.81, Y:5.22, Z:5.32 [[ 9.64780819e-01 -2.26254468e-01 -1.34189742e-01 9.08054813e+01] [ 2.24097190e-01 9.74068229e-01 -3.11694351e-02 5.22003718e+00] [ 1.37762188e-01 1.29029224e-07 9.90465335e-01 5.31595037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60863999999998 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:90.86, Y:5.24, Z:5.32 [[ 9.64734789e-01 -2.26459217e-01 -1.34175298e-01 9.08598809e+01] [ 2.24295280e-01 9.74020647e-01 -3.12314890e-02 5.23918663e+00] [ 1.37762169e-01 3.52179519e-05 9.90465337e-01 5.32333523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66863999999998 meters Centerline goodness : 0.983087 with order 1 Centerline is valid? [True, True] Translation: X:90.91, Y:5.28, Z:5.34 [[ 9.73984547e-01 -1.82634805e-01 -1.34158976e-01 9.09085503e+01] [ 1.80043866e-01 9.83160427e-01 -3.13014450e-02 5.28420800e+00] [ 1.37616530e-01 6.33262298e-03 9.90465339e-01 5.34330733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72863999999998 meters Centerline goodness : 0.998624 with order 1 Centerline is valid? [True, True] Translation: X:90.97, Y:5.28, Z:5.34 [[ 9.62956458e-01 -2.33916170e-01 -1.34156944e-01 9.09712407e+01] [ 2.31813178e-01 9.72256306e-01 -3.13101536e-02 5.28032767e+00] [ 1.37758886e-01 -9.49032919e-04 9.90465339e-01 5.33887590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78863999999999 meters Centerline goodness : 0.998523 with order 1 Centerline is valid? [True, True] Translation: X:91.03, Y:5.30, Z:5.35 [[ 9.60974961e-01 -2.41930025e-01 -1.34152852e-01 9.10269503e+01] [ 2.39902134e-01 9.70291473e-01 -3.13276741e-02 5.29596102e+00] [ 1.37746474e-01 -2.07844522e-03 9.90465340e-01 5.34632003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84863999999999 meters Centerline goodness : 0.998379 with order 1 Centerline is valid? [True, True] Translation: X:91.08, Y:5.31, Z:5.36 [[ 9.59679921e-01 -2.47021193e-01 -1.34145368e-01 9.10840593e+01] [ 2.45038248e-01 9.69006103e-01 -3.13596883e-02 5.30743127e+00] [ 1.37734188e-01 -2.77548282e-03 9.90465340e-01 5.35500552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90863999999999 meters Centerline goodness : 0.934320 with order 3 Centerline is valid? [True, False] Translation: X:91.11, Y:5.31, Z:5.35 [[ 9.63044995e-01 -2.28580102e-01 -1.42462188e-01 9.11105411e+01] [ 2.25713378e-01 9.73521377e-01 -3.61883853e-02 5.31308123e+00] [ 1.46961931e-01 2.69542164e-03 9.89138476e-01 5.35367562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96863999999998 meters Centerline goodness : 0.989323 with order 1 Centerline is valid? [False, True] Translation: X:91.12, Y:5.31, Z:5.35 [[ 9.67189337e-01 -2.11069201e-01 -1.41402189e-01 9.11160426e+01] [ 2.08092331e-01 9.77457849e-01 -3.56894310e-02 5.30826613e+00] [ 1.45747619e-01 5.09372599e-03 9.89308691e-01 5.35053424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02863999999998 meters Centerline goodness : 0.995330 with order 1 Centerline is valid? [True, True] Translation: X:91.18, Y:5.30, Z:5.37 [[ 9.58993720e-01 -2.45193950e-01 -1.42165300e-01 9.11765259e+01] [ 2.43077880e-01 9.69467566e-01 -3.23385599e-02 5.29501803e+00] [ 1.45753866e-01 -3.54476390e-03 9.89314533e-01 5.37275411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08863999999998 meters Centerline goodness : 0.996301 with order 1 Centerline is valid? [True, True] Translation: X:91.23, Y:5.30, Z:5.38 [[ 9.59814649e-01 -2.41962872e-01 -1.42161207e-01 9.12349310e+01] [ 2.39808878e-01 9.70280761e-01 -3.23565429e-02 5.30135790e+00] [ 1.45765366e-01 -3.03523570e-03 9.89314533e-01 5.38084361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14863999999999 meters Centerline goodness : 0.997046 with order 1 Centerline is valid? [True, True] Translation: X:91.29, Y:5.31, Z:5.39 [[ 9.60333403e-01 -2.39900042e-01 -1.42153881e-01 9.12934652e+01] [ 2.37718808e-01 9.70793871e-01 -3.23886948e-02 5.31321983e+00] [ 1.45772166e-01 -2.68870572e-03 9.89314534e-01 5.38600205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20863999999999 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:91.35, Y:5.33, Z:5.38 [[ 9.61257213e-01 -2.36172496e-01 -1.42151758e-01 9.13520292e+01] [ 2.33949319e-01 9.71708848e-01 -3.23980105e-02 5.32536658e+00] [ 1.45781640e-01 -2.11348576e-03 9.89314534e-01 5.37563950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26863999999999 meters Centerline goodness : 0.998229 with order 1 Centerline is valid? [True, True] Translation: X:91.41, Y:5.34, Z:5.38 [[ 9.61760350e-01 -2.34125464e-01 -1.42134784e-01 9.14079526e+01] [ 2.31869060e-01 9.72204859e-01 -3.24723121e-02 5.33846485e+00] [ 1.45786722e-01 -1.72607647e-03 9.89314537e-01 5.38424613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32863999999998 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:91.46, Y:5.35, Z:5.39 [[ 9.62779606e-01 -2.29908288e-01 -1.42118293e-01 9.14642555e+01] [ 2.27595502e-01 9.73211772e-01 -3.25443259e-02 5.35237333e+00] [ 1.45793406e-01 -1.01247114e-03 9.89314539e-01 5.39333111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38863999999998 meters Centerline goodness : 0.998327 with order 1 Centerline is valid? [True, True] Translation: X:91.52, Y:5.37, Z:5.40 [[ 9.63700772e-01 -2.26025140e-01 -1.42103688e-01 9.15197087e+01] [ 2.23660933e-01 9.74121403e-01 -3.26079744e-02 5.36747597e+00] [ 1.45796466e-01 -3.58713377e-04 9.89314541e-01 5.40258637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44863999999998 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:91.58, Y:5.39, Z:5.41 [[ 9.64868162e-01 -2.20999519e-01 -1.42086745e-01 9.15751960e+01] [ 2.18570186e-01 9.75273800e-01 -3.26816387e-02 5.38568793e+00] [ 1.45796106e-01 4.77546358e-04 9.89314544e-01 5.41164091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50863999999999 meters Centerline goodness : 0.996809 with order 1 Centerline is valid? [True, True] Translation: X:91.63, Y:5.40, Z:5.44 [[ 9.65919247e-01 -2.16369256e-01 -1.42071646e-01 9.16276529e+01] [ 2.13880407e-01 9.76310809e-01 -3.27471476e-02 5.40279622e+00] [ 1.45791559e-01 1.24475872e-03 9.89314546e-01 5.44021535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56863999999999 meters Centerline goodness : 0.996759 with order 1 Centerline is valid? [True, True] Translation: X:91.68, Y:5.42, Z:5.45 [[ 9.66104773e-01 -2.15549454e-01 -1.42056325e-01 9.16823191e+01] [ 2.13042035e-01 9.76491867e-01 -3.28134750e-02 5.42146912e+00] [ 1.45789773e-01 1.43728616e-03 9.89314549e-01 5.44853841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62863999999999 meters Centerline goodness : 0.995924 with order 1 Centerline is valid? [True, True] Translation: X:91.74, Y:5.44, Z:5.46 [[ 9.66189615e-01 -2.15180686e-01 -1.42038378e-01 9.17366887e+01] [ 2.12657910e-01 9.76572986e-01 -3.28909799e-02 5.44253872e+00] [ 1.45788347e-01 1.57333850e-03 9.89314552e-01 5.45797403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68863999999998 meters Centerline goodness : 0.998331 with order 1 Centerline is valid? [True, True] Translation: X:91.79, Y:5.47, Z:5.44 [[ 9.65963007e-01 -2.16205885e-01 -1.42022834e-01 9.17944936e+01] [ 2.13684280e-01 9.76346660e-01 -3.29579670e-02 5.46579926e+00] [ 1.45789226e-01 1.48812991e-03 9.89314554e-01 5.44423294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74863999999998 meters Centerline goodness : 0.995426 with order 1 Centerline is valid? [True, True] Translation: X:91.85, Y:5.49, Z:5.48 [[ 9.66091054e-01 -2.15643137e-01 -1.42007441e-01 9.18466951e+01] [ 2.13105755e-01 9.76470861e-01 -3.30241599e-02 5.48763133e+00] [ 1.45787561e-01 1.64174264e-03 9.89314556e-01 5.47919919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80863999999998 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:91.91, Y:5.51, Z:5.46 [[ 9.65583111e-01 -2.17906270e-01 -1.42007441e-01 9.19068012e+01] [ 2.15393216e-01 9.75968835e-01 -3.30241599e-02 5.50700598e+00] [ 1.45791008e-01 1.30013169e-03 9.89314556e-01 5.46046071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86863999999998 meters Centerline goodness : 0.993323 with order 1 Centerline is valid? [True, True] Translation: X:91.96, Y:5.52, Z:5.50 [[ 9.63401231e-01 -2.27360037e-01 -1.42005217e-01 9.19587473e+01] [ 2.24947491e-01 9.73810762e-01 -3.30337191e-02 5.52410273e+00] [ 1.45796756e-01 -1.18991693e-04 9.89314557e-01 5.49912005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92863999999999 meters Centerline goodness : 0.998478 with order 1 Centerline is valid? [True, True] Translation: X:92.02, Y:5.54, Z:5.48 [[ 9.62287469e-01 -2.32029728e-01 -1.42003634e-01 9.20210823e+01] [ 2.29666691e-01 9.72708350e-01 -3.30405247e-02 5.53963345e+00] [ 1.45794504e-01 -8.19021801e-04 9.89314557e-01 5.47533752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98863999999999 meters Centerline goodness : 0.993222 with order 1 Centerline is valid? [True, True] Translation: X:92.07, Y:5.55, Z:5.51 [[ 9.60111411e-01 -2.40875767e-01 -1.42003323e-01 9.20747442e+01] [ 2.38608536e-01 9.70553554e-01 -3.30418599e-02 5.55263488e+00] [ 1.45780813e-01 -2.15933826e-03 9.89314557e-01 5.51369892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04863999999998 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:92.14, Y:5.56, Z:5.49 [[ 9.58637484e-01 -2.46676833e-01 -1.42002514e-01 9.21374797e+01] [ 2.44472268e-01 9.69093038e-01 -3.30453364e-02 5.56302312e+00] [ 1.45765166e-01 -3.03717853e-03 9.89314557e-01 5.49303472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10863999999998 meters Centerline goodness : 0.990372 with order 1 Centerline is valid? [True, True] Translation: X:92.19, Y:5.57, Z:5.53 [[ 9.56351700e-01 -2.55395680e-01 -1.42001664e-01 9.21922149e+01] [ 2.53285870e-01 9.66826785e-01 -3.30489888e-02 5.56944999e+00] [ 1.45731581e-01 -4.36055835e-03 9.89314557e-01 5.53416370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16863999999998 meters Centerline goodness : 0.990910 with order 1 Centerline is valid? [True, True] Translation: X:92.25, Y:5.57, Z:5.54 [[ 9.54073627e-01 -2.63779154e-01 -1.42000250e-01 9.22537503e+01] [ 2.61760457e-01 9.64566652e-01 -3.30550616e-02 5.57209749e+00] [ 1.45687942e-01 -5.63308786e-03 9.89314557e-01 5.53973106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22863999999998 meters Centerline goodness : 0.989994 with order 1 Centerline is valid? [True, True] Translation: X:92.31, Y:5.57, Z:5.55 [[ 9.54989913e-01 -2.60442306e-01 -1.42000250e-01 9.23126185e+01] [ 2.58386940e-01 9.65475816e-01 -3.30550616e-02 5.57464903e+00] [ 1.45706744e-01 -5.12375974e-03 9.89314557e-01 5.54913677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28863999999999 meters Centerline goodness : 0.989043 with order 1 Centerline is valid? [True, True] Translation: X:92.37, Y:5.58, Z:5.56 [[ 9.55475051e-01 -2.58664534e-01 -1.41986216e-01 9.23724225e+01] [ 2.56580723e-01 9.65955337e-01 -3.31152385e-02 5.57533144e+00] [ 1.45718080e-01 -4.79014164e-03 9.89314558e-01 5.55745535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34863999999999 meters Centerline goodness : 0.996851 with order 1 Centerline is valid? [True, True] Translation: X:92.44, Y:5.58, Z:5.54 [[ 9.57682157e-01 -2.50377508e-01 -1.41971792e-01 9.24367129e+01] [ 2.48193839e-01 9.68142091e-01 -3.31769629e-02 5.58146604e+00] [ 1.45755632e-01 -3.46353864e-03 9.89314560e-01 5.53734159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40863999999999 meters Centerline goodness : 0.990610 with order 1 Centerline is valid? [True, True] Translation: X:92.49, Y:5.58, Z:5.57 [[ 9.54711347e-01 -2.61477620e-01 -1.41970767e-01 9.24935816e+01] [ 2.59414868e-01 9.65195796e-01 -3.31813474e-02 5.58167499e+00] [ 1.45705767e-01 -5.15071894e-03 9.89314560e-01 5.57178871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46863999999998 meters Centerline goodness : 0.997249 with order 1 Centerline is valid? [True, True] Translation: X:92.56, Y:5.58, Z:5.54 [[ 9.46328388e-01 -2.90358767e-01 -1.41966079e-01 9.25614008e+01] [ 2.88612466e-01 9.56870165e-01 -3.32013917e-02 5.57796129e+00] [ 1.45483421e-01 -9.55376067e-03 9.89314561e-01 5.54331259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52863999999998 meters Centerline goodness : 0.973010 with order 1 Centerline is valid? [True, True] Translation: X:92.61, Y:5.64, Z:5.55 [[ 9.77097445e-01 -1.58513244e-01 -1.41965257e-01 9.26054063e+01] [ 1.55344308e-01 9.87302173e-01 -3.32049086e-02 5.64208789e+00] [ 1.45426024e-01 1.03909368e-02 9.89314561e-01 5.55097175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.58863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:92.67, Y:5.62, Z:5.55 [[ 9.56314393e-01 -2.55558507e-01 -1.41959961e-01 9.26697079e+01] [ 2.53423997e-01 9.66784469e-01 -3.32275334e-02 5.62364900e+00] [ 1.45736264e-01 -4.20009224e-03 9.89314561e-01 5.55109807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64863999999999 meters Centerline goodness : 0.996163 with order 1 Centerline is valid? [True, True] Translation: X:92.72, Y:5.64, Z:5.58 [[ 9.58860744e-01 -2.45842455e-01 -1.41942103e-01 9.27211718e+01] [ 2.43590560e-01 9.69306198e-01 -3.33036483e-02 5.64375076e+00] [ 1.45772811e-01 -2.64219532e-03 9.89314564e-01 5.58429494e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70863999999999 meters Centerline goodness : 0.988504 with order 1 Centerline is valid? [True, True] Translation: X:92.78, Y:5.65, Z:5.62 [[ 9.57802536e-01 -2.49935864e-01 -1.41937892e-01 9.27768190e+01] [ 2.47725949e-01 9.68256953e-01 -3.33215852e-02 5.65010201e+00] [ 1.45760610e-01 -3.24620015e-03 9.89314564e-01 5.62005747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76863999999999 meters Centerline goodness : 0.996807 with order 1 Centerline is valid? [True, True] Translation: X:92.84, Y:5.66, Z:5.60 [[ 9.55794190e-01 -2.57509675e-01 -1.41937428e-01 9.28391473e+01] [ 2.55382290e-01 9.66265712e-01 -3.33235627e-02 5.66130257e+00] [ 1.45730409e-01 -4.39783773e-03 9.89314564e-01 5.60169451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82863999999998 meters Centerline goodness : 0.990356 with order 1 Centerline is valid? [True, True] Translation: X:92.89, Y:5.67, Z:5.63 [[ 9.55905790e-01 -2.57095833e-01 -1.41936088e-01 9.28942457e+01] [ 2.54963068e-01 9.66376218e-01 -3.33292672e-02 5.66511781e+00] [ 1.45732476e-01 -4.32882090e-03 9.89314564e-01 5.63297223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.88863999999998 meters Centerline goodness : 0.989747 with order 1 Centerline is valid? [True, True] Translation: X:92.95, Y:5.67, Z:5.65 [[ 9.53689357e-01 -2.65201626e-01 -1.41932051e-01 9.29536789e+01] [ 2.63155272e-01 9.64177015e-01 -3.33464505e-02 5.66565457e+00] [ 1.45691154e-01 -5.54801261e-03 9.89314564e-01 5.64504125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94863999999998 meters Centerline goodness : 0.991077 with order 1 Centerline is valid? [True, True] Translation: X:93.01, Y:5.67, Z:5.65 [[ 9.52090077e-01 -2.70893927e-01 -1.41918868e-01 9.30129566e+01] [ 2.68901926e-01 9.62588193e-01 -3.34024614e-02 5.67014170e+00] [ 1.45657951e-01 -6.36010504e-03 9.89314566e-01 5.65097062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.00863999999999 meters Centerline goodness : 0.990413 with order 1 Centerline is valid? [True, True] Translation: X:93.07, Y:5.67, Z:5.66 [[ 9.51269427e-01 -2.73763343e-01 -1.41915850e-01 9.30738339e+01] [ 2.71801097e-01 9.61773145e-01 -3.34152806e-02 5.66501064e+00] [ 1.45638732e-01 -6.78594889e-03 9.89314566e-01 5.66095138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06863999999999 meters Centerline goodness : 0.991023 with order 1 Centerline is valid? [True, True] Translation: X:93.13, Y:5.67, Z:5.67 [[ 9.51253815e-01 -2.73819669e-01 -1.41911836e-01 9.31311517e+01] [ 2.71855508e-01 9.61757174e-01 -3.34323204e-02 5.67365819e+00] [ 1.45639153e-01 -6.77689193e-03 9.89314566e-01 5.67042692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.12863999999999 meters Centerline goodness : 0.997932 with order 1 Centerline is valid? [True, True] Translation: X:93.20, Y:5.67, Z:5.65 [[ 9.52412753e-01 -2.69768392e-01 -1.41897717e-01 9.31961202e+01] [ 2.67750647e-01 9.62905949e-01 -3.34921397e-02 5.67273202e+00] [ 1.45669276e-01 -6.09486452e-03 9.89314568e-01 5.65301821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.18863999999998 meters Centerline goodness : 0.997981 with order 1 Centerline is valid? [True, True] Translation: X:93.26, Y:5.67, Z:5.66 [[ 9.55425586e-01 -2.58896267e-01 -1.41896695e-01 9.32558648e+01] [ 2.56758421e-01 9.65894974e-01 -3.34964683e-02 5.67239845e+00] [ 1.45729415e-01 -4.42978850e-03 9.89314568e-01 5.66241901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.24863999999998 meters Centerline goodness : 0.994244 with order 1 Centerline is valid? [True, True] Translation: X:93.31, Y:5.68, Z:5.70 [[ 9.57813446e-01 -2.49925662e-01 -1.41882225e-01 9.33119404e+01] [ 2.47680677e-01 9.68260381e-01 -3.35576505e-02 5.67892619e+00] [ 1.45765855e-01 -2.99951659e-03 9.89314570e-01 5.69667043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30863999999998 meters Centerline goodness : 0.996159 with order 1 Centerline is valid? [True, True] Translation: X:93.37, Y:5.69, Z:5.70 [[ 9.61167009e-01 -2.36702151e-01 -1.41880486e-01 9.33717728e+01] [ 2.34312323e-01 9.71581765e-01 -3.35650011e-02 5.68543781e+00] [ 1.45793401e-01 -9.82774438e-04 9.89314570e-01 5.70174554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36863999999998 meters Centerline goodness : 0.997439 with order 1 Centerline is valid? [True, True] Translation: X:93.43, Y:5.70, Z:5.71 [[ 9.63882975e-01 -2.25388907e-01 -1.41878300e-01 9.34288148e+01] [ 2.22875477e-01 9.74268594e-01 -3.35742390e-02 5.70027589e+00] [ 1.45794832e-01 7.40443686e-04 9.89314570e-01 5.70681704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.42863999999999 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:93.49, Y:5.72, Z:5.70 [[ 9.65272229e-01 -2.19365073e-01 -1.41874908e-01 9.34870641e+01] [ 2.16784728e-01 9.75641425e-01 -3.35885642e-02 5.71669484e+00] [ 1.45787195e-01 1.66579478e-03 9.89314570e-01 5.69749883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48863999999999 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:93.54, Y:5.73, Z:5.71 [[ 9.65902866e-01 -2.16581813e-01 -1.41858987e-01 9.35430701e+01] [ 2.13961736e-01 9.76262091e-01 -3.36556732e-02 5.73331873e+00] [ 1.45780758e-01 2.15571606e-03 9.89314573e-01 5.70514751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54863999999998 meters Centerline goodness : 0.998818 with order 1 Centerline is valid? [True, True] Translation: X:93.60, Y:5.75, Z:5.73 [[ 9.65925601e-01 -2.16490774e-01 -1.41843149e-01 9.35964317e+01] [ 2.13859940e-01 9.76282097e-01 -3.37222924e-02 5.74713964e+00] [ 1.45779492e-01 2.23865824e-03 9.89314575e-01 5.73120151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.60863999999998 meters Centerline goodness : 0.998867 with order 1 Centerline is valid? [True, True] Translation: X:93.65, Y:5.77, Z:5.74 [[ 9.65339467e-01 -2.19095204e-01 -1.41834425e-01 9.36512801e+01] [ 2.16486928e-01 9.75701667e-01 -3.37589448e-02 5.76568814e+00] [ 1.45784508e-01 1.88354287e-03 9.89314576e-01 5.74229904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66863999999998 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:93.71, Y:5.78, Z:5.75 [[ 9.65336266e-01 -2.19119873e-01 -1.41818103e-01 9.37076299e+01] [ 2.16501809e-01 9.75695995e-01 -3.38273749e-02 5.77980286e+00] [ 1.45783606e-01 1.95091583e-03 9.89314578e-01 5.75167259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.72863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:93.77, Y:5.80, Z:5.74 [[ 9.65359082e-01 -2.19029952e-01 -1.41801705e-01 9.37667710e+01] [ 2.16400848e-01 9.75716012e-01 -3.38959757e-02 5.79772329e+00] [ 1.45782428e-01 2.03577861e-03 9.89314580e-01 5.73997114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.78863999999999 meters Centerline goodness : 0.916158 with order 3 Centerline is valid? [True, False] Translation: X:93.76, Y:5.81, Z:5.74 [[ 9.67639189e-01 -2.09560236e-01 -1.40566381e-01 9.37630447e+01] [ 2.05339614e-01 9.77698887e-01 -4.40514463e-02 5.80738774e+00] [ 1.46663026e-01 1.37620594e-02 9.89090776e-01 5.74204680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.84863999999999 meters Centerline goodness : 0.940576 with order 3 Centerline is valid? [False, False] Translation: X:93.75, Y:5.82, Z:5.75 [[ 9.68948078e-01 -2.06071510e-01 -1.36653409e-01 9.37548778e+01] [ 1.99579188e-01 9.78057078e-01 -5.97703989e-02 5.81703638e+00] [ 1.45971811e-01 3.06412367e-02 9.88814111e-01 5.74555379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.90863999999998 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [False, True] Translation: X:93.75, Y:5.82, Z:5.75 [[ 9.70109556e-01 -2.00450974e-01 -1.36773014e-01 9.37531927e+01] [ 1.91999340e-01 9.78709716e-01 -7.25502906e-02 5.82100802e+00] [ 1.48403854e-01 4.41214018e-02 9.87942103e-01 5.74847498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96863999999998 meters Centerline goodness : 0.864364 with order 3 Centerline is valid? [True, False] Translation: X:93.75, Y:5.82, Z:5.75 [[ 9.73350388e-01 -1.85289565e-01 -1.35117726e-01 9.37521552e+01] [ 1.76333829e-01 9.81424023e-01 -7.55861568e-02 5.82199934e+00] [ 1.46613109e-01 4.97459890e-02 9.87942272e-01 5.74863131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02863999999998 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [False, True] Translation: X:93.75, Y:5.82, Z:5.75 [[ 9.77236249e-01 -1.68771269e-01 -1.28551828e-01 9.37491166e+01] [ 1.60102578e-01 9.84239895e-01 -7.50932388e-02 5.82319288e+00] [ 1.39199419e-01 5.28023559e-02 9.88855618e-01 5.74751269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.08863999999998 meters Centerline goodness : 0.899911 with order 1 Centerline is valid? [True, False] Translation: X:93.75, Y:5.82, Z:5.75 [[ 9.80756257e-01 -1.52719924e-01 -1.21629724e-01 9.37457007e+01] [ 1.44383766e-01 9.86699602e-01 -7.46808053e-02 5.82252044e+00] [ 1.31417247e-01 5.56823094e-02 9.89762086e-01 5.74650202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14863999999999 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [False, True] Translation: X:93.74, Y:5.83, Z:5.75 [[ 9.81681382e-01 -1.46599440e-01 -1.21697444e-01 9.37434870e+01] [ 1.36391835e-01 9.86703798e-01 -8.83905081e-02 5.82919911e+00] [ 1.33037329e-01 7.01727784e-02 9.88623715e-01 5.74976394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20863999999999 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:93.81, Y:5.78, Z:5.73 [[ 9.81863291e-01 -1.35588830e-01 -1.32514703e-01 9.38133172e+01] [ 1.34053481e-01 9.90762416e-01 -2.04816828e-02 5.77996773e+00] [ 1.34067675e-01 2.34615513e-03 9.90969401e-01 5.73404663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26863999999999 meters Centerline goodness : 0.884424 with order 3 Centerline is valid? [True, False] Translation: X:93.79, Y:5.79, Z:5.74 [[ 9.84044265e-01 -1.28455271e-01 -1.23110225e-01 9.37929095e+01] [ 1.25142544e-01 9.91545476e-01 -3.43061694e-02 5.79108670e+00] [ 1.26476195e-01 1.83524625e-02 9.91799858e-01 5.73590707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:93.78, Y:5.80, Z:5.74 [[ 9.85811767e-01 -1.20219387e-01 -1.17142902e-01 9.37832273e+01] [ 1.15590160e-01 9.92251317e-01 -4.55657560e-02 5.80113999e+00] [ 1.21713086e-01 3.13786917e-02 9.92069202e-01 5.73767538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38863999999998 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:93.84, Y:5.78, Z:5.79 [[ 9.84313755e-01 -1.28158622e-01 -1.21250973e-01 9.38405788e+01] [ 1.26960123e-01 9.91751822e-01 -1.75912085e-02 5.77999044e+00] [ 1.22505338e-01 1.92123005e-03 9.92465995e-01 5.78664243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44863999999998 meters Centerline goodness : 0.898409 with order 1 Centerline is valid? [True, False] Translation: X:93.80, Y:5.80, Z:5.79 [[ 9.85406360e-01 -1.27330888e-01 -1.12965265e-01 9.38043490e+01] [ 1.22598522e-01 9.91298663e-01 -4.79224786e-02 5.80196207e+00] [ 1.18084328e-01 3.33737407e-02 9.92442585e-01 5.78636053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50863999999999 meters Centerline goodness : 0.998768 with order 1 Centerline is valid? [False, True] Translation: X:93.76, Y:5.82, Z:5.79 [[ 9.87576023e-01 -1.22655328e-01 -9.82306955e-02 9.37591683e+01] [ 1.15779049e-01 9.90596000e-01 -7.29025145e-02 5.81916934e+00] [ 1.06248816e-01 6.06237188e-02 9.92489775e-01 5.78721971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56863999999999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:93.82, Y:5.78, Z:5.79 [[ 9.87369697e-01 -1.17635024e-01 -1.06127675e-01 9.38232500e+01] [ 1.16824159e-01 9.93056080e-01 -1.38469251e-02 5.77648852e+00] [ 1.07019616e-01 1.27375786e-03 9.94256093e-01 5.78629530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62863999999999 meters Centerline goodness : 0.997787 with order 1 Centerline is valid? [True, True] Translation: X:93.88, Y:5.79, Z:5.80 [[ 9.87646458e-01 -1.15295323e-01 -1.06120043e-01 9.38809810e+01] [ 1.14464729e-01 9.93329991e-01 -1.39051708e-02 5.78975938e+00] [ 1.07015423e-01 1.58639071e-03 9.94256095e-01 5.79521604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68863999999998 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:93.94, Y:5.80, Z:5.80 [[ 9.87667856e-01 -1.15112740e-01 -1.06119097e-01 9.39398623e+01] [ 1.14280322e-01 9.93351123e-01 -1.39123832e-02 5.79841364e+00] [ 1.07015017e-01 1.61348913e-03 9.94256095e-01 5.79577510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74863999999998 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:94.00, Y:5.81, Z:5.81 [[ 9.87169113e-01 -1.19315471e-01 -1.06117676e-01 9.39968779e+01] [ 1.18506085e-01 9.92855705e-01 -1.39232207e-02 5.80834501e+00] [ 1.07020795e-01 1.16898323e-03 9.94256095e-01 5.80517754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80863999999998 meters Centerline goodness : 0.998131 with order 1 Centerline is valid? [True, True] Translation: X:94.05, Y:5.82, Z:5.81 [[ 9.86843611e-01 -1.21984062e-01 -1.06111148e-01 9.40549681e+01] [ 1.21184724e-01 9.92531624e-01 -1.39727893e-02 5.81722262e+00] [ 1.07023128e-01 9.29907617e-04 9.94256096e-01 5.81297990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86863999999998 meters Centerline goodness : 0.996311 with order 1 Centerline is valid? [True, True] Translation: X:94.11, Y:5.83, Z:5.82 [[ 9.86492736e-01 -1.24795078e-01 -1.06104998e-01 9.41126391e+01] [ 1.24006942e-01 9.92182310e-01 -1.40193377e-02 5.82624813e+00] [ 1.07025047e-01 6.72218515e-04 9.94256098e-01 5.82378827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92863999999999 meters Centerline goodness : 0.995331 with order 1 Centerline is valid? [True, True] Translation: X:94.17, Y:5.83, Z:5.83 [[ 9.85853707e-01 -1.29751613e-01 -1.06098952e-01 9.41704438e+01] [ 1.28987173e-01 9.91546512e-01 -1.40649482e-02 5.83152355e+00] [ 1.07026996e-01 1.80577465e-04 9.94256099e-01 5.83079519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98863999999999 meters Centerline goodness : 0.992719 with order 1 Centerline is valid? [True, True] Translation: X:94.23, Y:5.84, Z:5.84 [[ 9.85572312e-01 -1.31877402e-01 -1.06092262e-01 9.42286026e+01] [ 1.31119828e-01 9.91266034e-01 -1.41152305e-02 5.83854600e+00] [ 1.07027136e-01 7.81135613e-07 9.94256100e-01 5.84240721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04863999999998 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:94.29, Y:5.85, Z:5.82 [[ 9.85666933e-01 -1.31169095e-01 -1.06091312e-01 9.42920134e+01] [ 1.30406661e-01 9.91360006e-01 -1.41223673e-02 5.84587052e+00] [ 1.07027102e-01 8.49366238e-05 9.94256100e-01 5.81582421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10863999999998 meters Centerline goodness : 0.993110 with order 1 Centerline is valid? [True, True] Translation: X:94.35, Y:5.85, Z:5.85 [[ 9.85449692e-01 -1.32791293e-01 -1.06091358e-01 9.43478878e+01] [ 1.32038269e-01 9.91144018e-01 -1.41220209e-02 5.85134654e+00] [ 1.07027097e-01 -9.15781568e-05 9.94256100e-01 5.84910133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16863999999998 meters Centerline goodness : 0.993752 with order 1 Centerline is valid? [True, True] Translation: X:94.41, Y:5.85, Z:5.85 [[ 9.85224539e-01 -1.34454302e-01 -1.06087924e-01 9.44064552e+01] [ 1.33708116e-01 9.90919765e-01 -1.41477768e-02 5.85407942e+00] [ 1.07026850e-01 -2.46079565e-04 9.94256100e-01 5.85263815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22863999999998 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:94.47, Y:5.86, Z:5.83 [[ 9.85235189e-01 -1.34378107e-01 -1.06085567e-01 9.44670925e+01] [ 1.33629581e-01 9.90930107e-01 -1.41654241e-02 5.85978740e+00] [ 1.07026905e-01 -2.19895611e-04 9.94256100e-01 5.83270151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28863999999999 meters Centerline goodness : 0.993455 with order 1 Centerline is valid? [True, True] Translation: X:94.52, Y:5.87, Z:5.86 [[ 9.85921836e-01 -1.29249344e-01 -1.06078930e-01 9.45222803e+01] [ 1.28465863e-01 9.91612050e-01 -1.42149568e-02 5.86515621e+00] [ 1.07026419e-01 3.87315008e-04 9.94256102e-01 5.86299348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34863999999999 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:94.58, Y:5.87, Z:5.85 [[ 9.86477464e-01 -1.24940845e-01 -1.06075438e-01 9.45831838e+01] [ 1.24129715e-01 9.92163801e-01 -1.42409683e-02 5.87386913e+00] [ 1.07023488e-01 8.81280389e-04 9.94256102e-01 5.84530157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40863999999998 meters Centerline goodness : 0.994629 with order 1 Centerline is valid? [True, True] Translation: X:94.64, Y:5.88, Z:5.87 [[ 9.86704460e-01 -1.23140696e-01 -1.06069215e-01 9.46383104e+01] [ 1.22314226e-01 9.92388587e-01 -1.42871641e-02 5.88156714e+00] [ 1.07021210e-01 1.12343452e-03 9.94256103e-01 5.87340310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46863999999998 meters Centerline goodness : 0.972120 with order 1 Centerline is valid? [True, True] Translation: X:94.70, Y:5.90, Z:5.84 [[ 9.93349587e-01 -4.47931715e-02 -1.06066816e-01 9.46994051e+01] [ 4.35182815e-02 9.98950213e-01 -1.43049572e-02 5.89529344e+00] [ 1.06596233e-01 9.59397778e-03 9.94256103e-01 5.84087968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52863999999998 meters Centerline goodness : 0.997883 with order 1 Centerline is valid? [True, True] Translation: X:94.76, Y:5.91, Z:5.87 [[ 9.87654774e-01 -1.15274147e-01 -1.06065635e-01 9.47555941e+01] [ 1.14399560e-01 9.93331696e-01 -1.43137044e-02 5.90624516e+00] [ 1.07008357e-01 2.00313639e-03 9.94256103e-01 5.86803923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58863999999998 meters Centerline goodness : 0.994393 with order 1 Centerline is valid? [True, True] Translation: X:94.81, Y:5.92, Z:5.89 [[ 9.88172686e-01 -1.10747515e-01 -1.06064748e-01 9.48117761e+01] [ 1.09846221e-01 9.93845429e-01 -1.43202728e-02 5.92377442e+00] [ 1.06997900e-01 2.50009061e-03 9.94256103e-01 5.88781970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64863999999999 meters Centerline goodness : 0.996069 with order 1 Centerline is valid? [True, True] Translation: X:94.87, Y:5.92, Z:5.88 [[ 9.82289201e-01 -1.54461628e-01 -1.06063803e-01 9.48720859e+01] [ 1.53812038e-01 9.87996248e-01 -1.43272757e-02 5.92037428e+00] [ 1.07003653e-01 -2.24036144e-03 9.94256103e-01 5.88490996e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70863999999999 meters Centerline goodness : 0.897677 with order 3 Centerline is valid? [True, False] Translation: X:94.79, Y:5.96, Z:5.89 [[ 9.83912588e-01 -1.56539258e-01 -8.60899496e-02 9.47934899e+01] [ 1.51821780e-01 9.86651616e-01 -5.88959655e-02 5.95823318e+00] [ 9.41603187e-02 4.48781524e-02 9.94545014e-01 5.88848706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76863999999999 meters Centerline goodness : 0.997191 with order 1 Centerline is valid? [False, True] Translation: X:94.73, Y:5.98, Z:5.89 [[ 9.84355432e-01 -1.61326611e-01 -7.08386017e-02 9.47291541e+01] [ 1.55146947e-01 9.84185840e-01 -8.54848315e-02 5.97720391e+00] [ 8.35093269e-02 7.31570655e-02 9.93818010e-01 5.88969513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82863999999998 meters Centerline goodness : 0.997094 with order 1 Centerline is valid? [True, True] Translation: X:94.80, Y:5.94, Z:5.88 [[ 9.83126383e-01 -1.62485630e-01 -8.40293707e-02 9.47975169e+01] [ 1.61744905e-01 9.86709376e-01 -1.55946758e-02 5.93587876e+00] [ 8.54464786e-02 1.74021466e-03 9.96341242e-01 5.88417775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88863999999998 meters Centerline goodness : 0.990561 with order 1 Centerline is valid? [True, True] Translation: X:94.85, Y:5.96, Z:5.91 [[ 9.82362763e-01 -1.67043966e-01 -8.40221074e-02 9.48517964e+01] [ 1.66316531e-01 9.85948477e-01 -1.56337119e-02 5.95522538e+00] [ 8.54529861e-02 1.38371106e-03 9.96341243e-01 5.91305506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94863999999998 meters Centerline goodness : 0.993648 with order 1 Centerline is valid? [True, True] Translation: X:94.91, Y:5.97, Z:5.91 [[ 9.81581388e-01 -1.71579147e-01 -8.40153289e-02 9.49096700e+01] [ 1.70865169e-01 9.85169804e-01 -1.56700554e-02 5.97219688e+00] [ 8.54580199e-02 1.02614138e-03 9.96341244e-01 5.91237230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00863999999999 meters Centerline goodness : 0.992434 with order 1 Centerline is valid? [True, True] Translation: X:94.96, Y:5.99, Z:5.92 [[ 9.81079377e-01 -1.74426977e-01 -8.40147988e-02 9.49649689e+01] [ 1.73723173e-01 9.84669802e-01 -1.56728971e-02 5.99029241e+00] [ 8.54606114e-02 7.81038713e-04 9.96341244e-01 5.92069149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06863999999999 meters Centerline goodness : 0.994537 with order 1 Centerline is valid? [True, True] Translation: X:95.02, Y:6.01, Z:5.92 [[ 9.80604118e-01 -1.77083278e-01 -8.40064029e-02 9.50216623e+01] [ 1.76385355e-01 9.84195691e-01 -1.57177711e-02 6.00783960e+00] [ 8.54620942e-02 5.95411884e-04 9.96341245e-01 5.92419146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12863999999999 meters Centerline goodness : 0.991021 with order 1 Centerline is valid? [True, True] Translation: X:95.08, Y:6.02, Z:5.94 [[ 9.80162376e-01 -1.79514112e-01 -8.40023795e-02 9.50793272e+01] [ 1.78823257e-01 9.83755315e-01 -1.57392448e-02 6.02201227e+00] [ 8.54632038e-02 4.05436483e-04 9.96341245e-01 5.93838469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18863999999998 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:95.14, Y:6.04, Z:5.92 [[ 9.78197099e-01 -1.89931899e-01 -8.40018389e-02 9.51400215e+01] [ 1.89279060e-01 9.81797139e-01 -1.57421292e-02 6.03501890e+00] [ 8.54626976e-02 -5.00883991e-04 9.96341245e-01 5.91508080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24863999999998 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:95.20, Y:6.05, Z:5.92 [[ 9.77753514e-01 -1.92202828e-01 -8.40008202e-02 9.51968408e+01] [ 1.91557884e-01 9.81354977e-01 -1.57475631e-02 6.04749849e+00] [ 8.54613492e-02 -6.93784181e-04 9.96341245e-01 5.91936879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:95.26, Y:6.06, Z:5.92 [[ 9.77666313e-01 -1.92648973e-01 -8.39937687e-02 9.52553858e+01] [ 1.92002448e-01 9.81267492e-01 -1.57850852e-02 6.05596537e+00] [ 8.54613352e-02 -6.94463134e-04 9.96341246e-01 5.92300564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.31, Y:6.06, Z:5.93 [[ 9.77745258e-01 -1.92250985e-01 -8.39867204e-02 9.53137741e+01] [ 1.91599781e-01 9.81345593e-01 -1.58224983e-02 6.06354932e+00] [ 8.54618888e-02 -6.21464580e-04 9.96341246e-01 5.92908128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:95.37, Y:6.07, Z:5.93 [[ 9.78373673e-01 -1.89030078e-01 -8.39796754e-02 9.53720699e+01] [ 1.88363818e-01 9.81971251e-01 -1.58598029e-02 6.07127027e+00] [ 8.54636067e-02 -3.01918718e-04 9.96341247e-01 5.93353722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48863999999999 meters Centerline goodness : 0.870517 with order 3 Centerline is valid? [True, False] Translation: X:95.41, Y:6.10, Z:5.94 [[ 9.81994206e-01 -1.61847811e-01 -9.74303059e-02 9.54091354e+01] [ 1.58929133e-01 9.86594238e-01 -3.70585983e-02 6.09855714e+00] [ 1.02122031e-01 2.09068148e-02 9.94552158e-01 5.94105496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54863999999998 meters Centerline goodness : 0.905421 with order 3 Centerline is valid? [False, False] Translation: X:95.42, Y:6.12, Z:5.95 [[ 9.84844679e-01 -1.40918037e-01 -1.01109179e-01 9.54186817e+01] [ 1.35838092e-01 9.89174441e-01 -5.55152131e-02 6.11621706e+00] [ 1.07837710e-01 4.09393842e-02 9.93325221e-01 5.94676038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60863999999998 meters Centerline goodness : 0.997640 with order 1 Centerline is valid? [False, True] Translation: X:95.42, Y:6.12, Z:5.95 [[ 9.86052490e-01 -1.32554497e-01 -1.00646873e-01 9.54152885e+01] [ 1.26181650e-01 9.89723620e-01 -6.72707085e-02 6.12331870e+00] [ 1.08529622e-01 5.36326611e-02 9.92645384e-01 5.95059387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.48, Y:6.09, Z:5.93 [[ 9.85436809e-01 -1.31111107e-01 -1.08278226e-01 9.54822888e+01] [ 1.30173825e-01 9.91366710e-01 -1.57105273e-02 6.08804473e+00] [ 1.09403253e-01 1.38674109e-03 9.93996481e-01 5.92719227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72863999999998 meters Centerline goodness : 0.996265 with order 1 Centerline is valid? [True, True] Translation: X:95.54, Y:6.10, Z:5.95 [[ 9.85958431e-01 -1.27131253e-01 -1.08275656e-01 9.55377767e+01] [ 1.26168095e-01 9.91884184e-01 -1.57282137e-02 6.09903118e+00] [ 1.09396459e-01 1.84643167e-03 9.93996482e-01 5.95413057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78863999999999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:95.60, Y:6.11, Z:5.94 [[ 9.86260625e-01 -1.24771575e-01 -1.08268343e-01 9.55978878e+01] [ 1.23788732e-01 9.92183144e-01 -1.57783995e-02 6.11037609e+00] [ 1.09390720e-01 2.15921330e-03 9.93996483e-01 5.94090549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84863999999999 meters Centerline goodness : 0.949673 with order 1 Centerline is valid? [True, False] Translation: X:95.57, Y:6.13, Z:5.94 [[ 9.87622582e-01 -1.19701902e-01 -1.01356258e-01 9.55678045e+01] [ 1.16093585e-01 9.92399870e-01 -4.08016785e-02 6.12959172e+00] [ 1.05469976e-01 2.85298477e-02 9.94013145e-01 5.94308160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90863999999998 meters Centerline goodness : 0.996121 with order 1 Centerline is valid? [False, True] Translation: X:95.52, Y:6.15, Z:5.95 [[ 9.89708236e-01 -1.13675954e-01 -8.69217165e-02 9.55209602e+01] [ 1.08202064e-01 9.91981943e-01 -6.53003657e-02 6.14592902e+00] [ 9.36478546e-02 5.52232006e-02 9.94072672e-01 5.94718618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96863999999998 meters Centerline goodness : 0.997299 with order 1 Centerline is valid? [True, True] Translation: X:95.59, Y:6.11, Z:5.94 [[ 9.89037517e-01 -1.13789273e-01 -9.41105317e-02 9.55858989e+01] [ 1.13104705e-01 9.93503256e-01 -1.25938773e-02 6.10951231e+00] [ 9.49321678e-02 1.81147314e-03 9.95482095e-01 5.94041679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02863999999998 meters Centerline goodness : 0.996261 with order 1 Centerline is valid? [True, True] Translation: X:95.64, Y:6.12, Z:5.95 [[ 9.88882807e-01 -1.15130942e-01 -9.41045182e-02 9.56434482e+01] [ 1.14448174e-01 9.93348821e-01 -1.26386533e-02 6.12188241e+00] [ 9.49337123e-02 1.72805669e-03 9.95482096e-01 5.95055399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:95.70, Y:6.14, Z:5.94 [[ 9.88417754e-01 -1.19058143e-01 -9.41036731e-02 9.57023870e+01] [ 1.18392522e-01 9.92886356e-01 -1.26449426e-02 6.13544844e+00] [ 9.49397365e-02 1.35731458e-03 9.95482096e-01 5.93549667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14863999999999 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:95.76, Y:6.14, Z:5.96 [[ 9.88136992e-01 -1.21370965e-01 -9.40976794e-02 9.57584856e+01] [ 1.20711570e-01 9.92606516e-01 -1.26893897e-02 6.14335842e+00] [ 9.49420932e-02 1.18017669e-03 9.95482097e-01 5.96131771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20863999999999 meters Centerline goodness : 0.998182 with order 1 Centerline is valid? [True, True] Translation: X:95.82, Y:6.15, Z:5.97 [[ 9.88005856e-01 -1.22438391e-01 -9.40918107e-02 9.58163038e+01] [ 1.21779696e-01 9.92475482e-01 -1.27327580e-02 6.15386720e+00] [ 9.49427936e-02 1.12156731e-03 9.95482098e-01 5.97019276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26863999999998 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:95.87, Y:6.17, Z:5.97 [[ 9.88082785e-01 -1.21820257e-01 -9.40863202e-02 9.58739232e+01] [ 1.21154915e-01 9.92551425e-01 -1.27732016e-02 6.16510153e+00] [ 9.49415459e-02 1.22196048e-03 9.95482099e-01 5.97210937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32863999999998 meters Centerline goodness : 0.997345 with order 1 Centerline is valid? [True, True] Translation: X:95.93, Y:6.18, Z:5.98 [[ 9.88469830e-01 -1.18643490e-01 -9.40803755e-02 9.59305706e+01] [ 1.17959636e-01 9.92935674e-01 -1.28168382e-02 6.17614522e+00] [ 9.49363955e-02 1.57137107e-03 9.95482100e-01 5.98332792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38863999999998 meters Centerline goodness : 0.998134 with order 1 Centerline is valid? [True, True] Translation: X:95.99, Y:6.19, Z:5.99 [[ 9.88556000e-01 -1.17928145e-01 -9.40743728e-02 9.59865356e+01] [ 1.17236882e-01 9.93020702e-01 -1.28607482e-02 6.19211106e+00] [ 9.49344439e-02 1.68458366e-03 9.95482101e-01 5.98695763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44863999999998 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:96.04, Y:6.21, Z:5.99 [[ 9.88361203e-01 -1.19555108e-01 -9.40675789e-02 9.60429528e+01] [ 1.18866483e-01 9.92826311e-01 -1.29102513e-02 6.20992137e+00] [ 9.49362538e-02 1.57850922e-03 9.95482102e-01 5.99423994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50863999999999 meters Centerline goodness : 0.997150 with order 1 Centerline is valid? [True, True] Translation: X:96.10, Y:6.23, Z:6.00 [[ 9.88617584e-01 -1.17420898e-01 -9.40617067e-02 9.60991307e+01] [ 1.16718579e-01 9.93080559e-01 -1.29528945e-02 6.22907849e+00] [ 9.49317927e-02 1.82671047e-03 9.95482103e-01 6.00009867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56863999999999 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:96.16, Y:6.24, Z:6.00 [[ 9.88402103e-01 -1.19222457e-01 -9.40600249e-02 9.61572377e+01] [ 1.18527113e-01 9.92866169e-01 -1.29650961e-02 6.24338901e+00] [ 9.49347472e-02 1.66606507e-03 9.95482103e-01 6.00304192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62863999999999 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:96.21, Y:6.26, Z:6.01 [[ 9.88225291e-01 -1.20679923e-01 -9.40591835e-02 9.62146112e+01] [ 1.19990581e-01 9.92690288e-01 -1.29711975e-02 6.25633262e+00] [ 9.49370010e-02 1.53224929e-03 9.95482103e-01 6.01023794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68863999999998 meters Centerline goodness : 0.875117 with order 3 Centerline is valid? [True, False] Translation: X:96.27, Y:6.29, Z:6.03 [[ 9.87401052e-01 -1.04146978e-01 -1.19132574e-01 9.62709768e+01] [ 9.94287764e-02 9.94031064e-01 -4.49016860e-02 6.29109199e+00] [ 1.23097855e-01 3.24907659e-02 9.91862525e-01 6.02594526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:96.28, Y:6.31, Z:6.04 [[ 9.87964378e-01 -9.09074980e-02 -1.25148771e-01 9.62820231e+01] [ 8.24379224e-02 9.94043999e-01 -7.12777440e-02 6.31444780e+00] [ 1.30883066e-01 6.01028673e-02 9.89574286e-01 6.03528397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80863999999998 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:96.34, Y:6.27, Z:6.05 [[ 9.87761396e-01 -8.43263648e-02 -1.31211620e-01 9.63440367e+01] [ 8.33158441e-02 9.96435999e-01 -1.31821494e-02 6.27499492e+00] [ 1.31855585e-01 2.08881135e-03 9.91266736e-01 6.05148614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86863999999998 meters Centerline goodness : 0.998138 with order 1 Centerline is valid? [True, True] Translation: X:96.40, Y:6.29, Z:6.06 [[ 9.87893838e-01 -8.27617124e-02 -1.31210763e-01 9.64007130e+01] [ 8.17363201e-02 9.96566696e-01 -1.31906807e-02 6.29069789e+00] [ 1.31851960e-01 2.30630733e-03 9.91266736e-01 6.05782950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.46, Y:6.30, Z:6.04 [[ 9.87201781e-01 -9.06489893e-02 -1.31207489e-01 9.64609447e+01] [ 8.96885792e-02 9.95882075e-01 -1.32231666e-02 6.30086991e+00] [ 1.31865853e-01 1.28612039e-03 9.91266736e-01 6.04310333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:96.52, Y:6.31, Z:6.05 [[ 9.86533847e-01 -9.76583264e-02 -1.31201447e-01 9.65192508e+01] [ 9.67516549e-02 9.95219917e-01 -1.32828504e-02 6.30824202e+00] [ 1.31871474e-01 4.10024392e-04 9.91266738e-01 6.04988962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.58, Y:6.32, Z:6.06 [[ 9.85909538e-01 -1.03779334e-01 -1.31195402e-01 9.65771081e+01] [ 1.02918680e-01 9.94600286e-01 -1.33422884e-02 6.31603976e+00] [ 1.31871638e-01 -3.48168268e-04 9.91266740e-01 6.05746823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10863999999998 meters Centerline goodness : 0.993967 with order 1 Centerline is valid? [True, True] Translation: X:96.63, Y:6.32, Z:6.10 [[ 9.85192393e-01 -1.10387003e-01 -1.31189400e-01 9.66317159e+01] [ 1.09576811e-01 9.93887989e-01 -1.34010512e-02 6.32204114e+00] [ 1.31866870e-01 -1.17270237e-03 9.91266742e-01 6.09768600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:96.69, Y:6.33, Z:6.07 [[ 9.85001766e-01 -1.12075938e-01 -1.31188812e-01 9.66946259e+01] [ 1.11279890e-01 9.93698668e-01 -1.34068044e-02 6.33311004e+00] [ 1.31864728e-01 -1.39295044e-03 9.91266742e-01 6.07259593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.75, Y:6.34, Z:6.08 [[ 9.84477613e-01 -1.16590787e-01 -1.31188483e-01 9.67527663e+01] [ 1.15834192e-01 9.93178036e-01 -1.34100225e-02 6.33849503e+00] [ 1.31857005e-01 -1.99424495e-03 9.91266742e-01 6.08082205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.81, Y:6.34, Z:6.09 [[ 9.83283440e-01 -1.26272706e-01 -1.31182621e-01 9.68105885e+01] [ 1.25594148e-01 9.91990296e-01 -1.34671220e-02 6.34012208e+00] [ 1.31832417e-01 -3.23377151e-03 9.91266743e-01 6.08879535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34863999999999 meters Centerline goodness : 0.994166 with order 1 Centerline is valid? [True, True] Translation: X:96.87, Y:6.34, Z:6.13 [[ 9.81681726e-01 -1.38179685e-01 -1.31176844e-01 9.68664105e+01] [ 1.37599216e-01 9.90395668e-01 -1.35231635e-02 6.33681746e+00] [ 1.31785605e-01 -4.77438839e-03 9.91266745e-01 6.12601763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:96.93, Y:6.33, Z:6.10 [[ 9.81157359e-01 -1.41855662e-01 -1.31176250e-01 9.69309878e+01] [ 1.41307066e-01 9.89873366e-01 -1.35289265e-02 6.33337452e+00] [ 1.31767031e-01 -5.26212517e-03 9.91266745e-01 6.10455772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46863999999998 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:96.99, Y:6.32, Z:6.13 [[ 9.80602276e-01 -1.45643722e-01 -1.31175773e-01 9.69888403e+01] [ 1.45128173e-01 9.89320300e-01 -1.35335513e-02 6.32423069e+00] [ 1.31745931e-01 -5.76626906e-03 9.91266745e-01 6.13372569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52863999999998 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:97.05, Y:6.32, Z:6.14 [[ 9.80450400e-01 -1.46663000e-01 -1.31175373e-01 9.70474845e+01] [ 1.46155997e-01 9.89168925e-01 -1.35374237e-02 6.31852115e+00] [ 1.31740042e-01 -5.89929492e-03 9.91266745e-01 6.14329122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58863999999998 meters Centerline goodness : 0.997985 with order 1 Centerline is valid? [True, True] Translation: X:97.11, Y:6.31, Z:6.15 [[ 9.80688690e-01 -1.45066082e-01 -1.31169831e-01 9.71067214e+01] [ 1.44537740e-01 9.89405947e-01 -1.35909075e-02 6.30899915e+00] [ 1.31751791e-01 -5.63054179e-03 9.91266746e-01 6.15301861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.64863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:97.17, Y:6.30, Z:6.13 [[ 9.81741235e-01 -1.37764472e-01 -1.31168207e-01 9.71710034e+01] [ 1.37169188e-01 9.90454176e-01 -1.36065661e-02 6.29823566e+00] [ 1.31790600e-01 -4.63410942e-03 9.91266747e-01 6.13428434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.23, Y:6.29, Z:6.14 [[ 9.82710280e-01 -1.30673253e-01 -1.31167856e-01 9.72304285e+01] [ 1.30014631e-01 9.91418663e-01 -1.36099470e-02 6.28708994e+00] [ 1.31820717e-01 -3.67910561e-03 9.91266747e-01 6.14174830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.29, Y:6.29, Z:6.15 [[ 9.83118179e-01 -1.27573708e-01 -1.31162473e-01 9.72876924e+01] [ 1.26880736e-01 9.91823895e-01 -1.36616291e-02 6.28781603e+00] [ 1.31832940e-01 -3.21099534e-03 9.91266748e-01 6.14917974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:97.35, Y:6.28, Z:6.16 [[ 9.84398821e-01 -1.17290960e-01 -1.31155600e-01 9.73470351e+01] [ 1.16498285e-01 9.93096023e-01 -1.37272994e-02 6.28428118e+00] [ 1.31860193e-01 -1.76626516e-03 9.91266750e-01 6.15715980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88863999999998 meters Centerline goodness : 0.994219 with order 1 Centerline is valid? [True, True] Translation: X:97.40, Y:6.28, Z:6.19 [[ 9.85649213e-01 -1.06279834e-01 -1.31149631e-01 9.74035697e+01] [ 1.05382432e-01 9.94336232e-01 -1.37840950e-02 6.28312403e+00] [ 1.31871801e-01 -2.34584614e-04 9.91266752e-01 6.19323115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94863999999998 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:97.47, Y:6.29, Z:6.18 [[ 9.86897668e-01 -9.39848743e-02 -1.31148148e-01 9.74651570e+01] [ 9.29773794e-02 9.95572607e-01 -1.37981928e-02 6.29214544e+00] [ 1.31864325e-01 1.42359316e-03 9.91266752e-01 6.18292027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00863999999999 meters Centerline goodness : 0.998084 with order 1 Centerline is valid? [True, True] Translation: X:97.52, Y:6.29, Z:6.20 [[ 9.86525986e-01 -9.78098487e-02 -1.31147673e-01 9.75221959e+01] [ 9.68353896e-02 9.95204699e-01 -1.38027068e-02 6.29491213e+00] [ 1.31868821e-01 9.16992970e-04 9.91266752e-01 6.20111992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06863999999999 meters Centerline goodness : 0.997986 with order 1 Centerline is valid? [True, True] Translation: X:97.58, Y:6.30, Z:6.21 [[ 9.86592552e-01 -9.71385735e-02 -1.31145847e-01 9.75805840e+01] [ 9.61559061e-02 9.95270339e-01 -1.38200348e-02 6.30293426e+00] [ 1.31868030e-01 1.02429570e-03 9.91266752e-01 6.20728171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12863999999999 meters Centerline goodness : 0.997544 with order 1 Centerline is valid? [True, True] Translation: X:97.64, Y:6.31, Z:6.22 [[ 9.85818946e-01 -1.04706745e-01 -1.31139251e-01 9.76384965e+01] [ 1.03782409e-01 9.94503138e-01 -1.38823490e-02 6.30750104e+00] [ 1.31871972e-01 7.55352455e-05 9.91266754e-01 6.21696499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18863999999998 meters Centerline goodness : 0.996553 with order 1 Centerline is valid? [True, True] Translation: X:97.70, Y:6.31, Z:6.23 [[ 9.84606280e-01 -1.15562574e-01 -1.31132622e-01 9.76962112e+01] [ 1.14725680e-01 9.93299333e-01 -1.39446865e-02 6.31099756e+00] [ 1.31865430e-01 -1.31425330e-03 9.91266756e-01 6.22641428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24863999999998 meters Centerline goodness : 0.996743 with order 1 Centerline is valid? [True, True] Translation: X:97.76, Y:6.31, Z:6.23 [[ 9.83666059e-01 -1.23316736e-01 -1.31126150e-01 9.77551446e+01] [ 1.22540285e-01 9.92364717e-01 -1.40052811e-02 6.30946581e+00] [ 1.31852050e-01 -2.29171617e-03 9.91266758e-01 6.23353126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30863999999998 meters Centerline goodness : 0.993953 with order 1 Centerline is valid? [True, True] Translation: X:97.81, Y:6.31, Z:6.25 [[ 9.82898343e-01 -1.29299783e-01 -1.31119841e-01 9.78124823e+01] [ 1.28568432e-01 9.91600907e-01 -1.40641082e-02 6.30673865e+00] [ 1.31837039e-01 -3.03428361e-03 9.91266759e-01 6.24589152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36863999999998 meters Centerline goodness : 0.995423 with order 1 Centerline is valid? [True, True] Translation: X:97.87, Y:6.31, Z:6.25 [[ 9.82228771e-01 -1.34298698e-01 -1.31112555e-01 9.78716904e+01] [ 1.33602614e-01 9.90934224e-01 -1.41317088e-02 6.30568856e+00] [ 1.31821788e-01 -3.63640915e-03 9.91266762e-01 6.25140173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42863999999999 meters Centerline goodness : 0.995524 with order 1 Centerline is valid? [True, True] Translation: X:97.93, Y:6.30, Z:6.26 [[ 9.82078992e-01 -1.35395563e-01 -1.31106427e-01 9.79309675e+01] [ 1.34701649e-01 9.90784617e-01 -1.41883311e-02 6.29809131e+00] [ 1.31819268e-01 -3.72618998e-03 9.91266763e-01 6.25735935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48863999999999 meters Centerline goodness : 0.993648 with order 1 Centerline is valid? [True, True] Translation: X:97.99, Y:6.29, Z:6.27 [[ 9.81955724e-01 -1.36292601e-01 -1.31100275e-01 9.79897940e+01] [ 1.35599086e-01 9.90661380e-01 -1.42449508e-02 6.29252620e+00] [ 1.31817461e-01 -3.78916653e-03 9.91266765e-01 6.26608203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54863999999998 meters Centerline goodness : 0.992724 with order 1 Centerline is valid? [True, True] Translation: X:98.05, Y:6.29, Z:6.27 [[ 9.82401682e-01 -1.33046162e-01 -1.31094067e-01 9.80488502e+01] [ 1.32316287e-01 9.91104362e-01 -1.43018557e-02 6.29215281e+00] [ 1.31830709e-01 -3.29571317e-03 9.91266767e-01 6.27347426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60863999999998 meters Centerline goodness : 0.993309 with order 1 Centerline is valid? [True, True] Translation: X:98.11, Y:6.29, Z:6.28 [[ 9.82480384e-01 -1.32469954e-01 -1.31087783e-01 9.81076448e+01] [ 1.31727325e-01 9.91181984e-01 -1.43592289e-02 6.29077024e+00] [ 1.31834015e-01 -3.16018224e-03 9.91266768e-01 6.27900812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.66863999999998 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [True, True] Translation: X:98.17, Y:6.30, Z:6.24 [[ 9.85305120e-01 -1.09505565e-01 -1.31081466e-01 9.81710654e+01] [ 1.08552426e-01 9.93986182e-01 -1.44166678e-02 6.30360518e+00] [ 1.31871871e-01 -2.43945001e-05 9.91266770e-01 6.24347792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72863999999998 meters Centerline goodness : 0.931182 with order 1 Centerline is valid? [True, False] Translation: X:98.20, Y:6.30, Z:6.25 [[ 9.86382227e-01 -9.01007519e-02 -1.37593446e-01 9.81993100e+01] [ 8.81414676e-02 9.95901517e-01 -2.02792971e-02 6.30258340e+00] [ 1.38856702e-01 7.87544997e-03 9.90281169e-01 6.24579899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78863999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [False, True] Translation: X:98.22, Y:6.30, Z:6.25 [[ 9.87253543e-01 -7.13339411e-02 -1.42274068e-01 9.82247759e+01] [ 6.82104632e-02 9.97313135e-01 -2.67178349e-02 6.30082918e+00] [ 1.43797685e-01 1.66726971e-02 9.89466648e-01 6.24946259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84863999999999 meters Centerline goodness : 0.997588 with order 1 Centerline is valid? [True, True] Translation: X:98.28, Y:6.28, Z:6.27 [[ 9.89479128e-01 -2.48435002e-02 -1.42526682e-01 9.82831349e+01] [ 2.49344277e-02 9.99688429e-01 -1.14830340e-03 6.27672380e+00] [ 1.42510803e-01 -2.41759901e-03 9.89790294e-01 6.26510222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90863999999998 meters Centerline goodness : 0.919446 with order 1 Centerline is valid? [True, False] Translation: X:98.33, Y:6.28, Z:6.27 [[ 9.87668727e-01 -9.78579790e-03 -1.56252114e-01 9.83283953e+01] [ 7.51542483e-03 9.99857527e-01 -1.51143786e-02 6.28245747e+00] [ 1.56377759e-01 1.37536981e-02 9.87601555e-01 6.27050539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96863999999998 meters Centerline goodness : 0.993507 with order 1 Centerline is valid? [False, True] Translation: X:98.36, Y:6.28, Z:6.28 [[ 9.86660570e-01 2.28234265e-03 -1.62775031e-01 9.83577272e+01] [-7.17040314e-03 9.99540584e-01 -2.94483738e-02 6.28348236e+00] [ 1.62633038e-01 3.02227119e-02 9.86223647e-01 6.27609828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02863999999998 meters Centerline goodness : 0.989163 with order 1 Centerline is valid? [True, True] Translation: X:98.41, Y:6.25, Z:6.30 [[ 9.86349834e-01 -1.98962913e-02 -1.63456850e-01 9.84136509e+01] [ 1.94968434e-02 9.99801725e-01 -4.04778414e-03 6.25487498e+00] [ 1.63504977e-01 8.05638607e-04 9.86542180e-01 6.30007406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08863999999998 meters Centerline goodness : 0.997145 with order 1 Centerline is valid? [True, True] Translation: X:98.48, Y:6.25, Z:6.29 [[ 9.86425360e-01 -1.57228538e-02 -1.63455809e-01 9.84755392e+01] [ 1.52595954e-02 9.99875203e-01 -4.08942166e-03 6.25297984e+00] [ 1.63499707e-01 1.53963972e-03 9.86542181e-01 6.28541161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14863999999999 meters Centerline goodness : 0.989167 with order 1 Centerline is valid? [True, True] Translation: X:98.53, Y:6.25, Z:6.32 [[ 9.86495836e-01 -1.04311008e-02 -1.63453839e-01 9.85293793e+01] [ 9.88289778e-03 9.99942482e-01 -4.16670112e-03 6.25207868e+00] [ 1.63487901e-01 2.49503572e-03 9.86542184e-01 6.31980665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20863999999999 meters Centerline goodness : 0.997926 with order 1 Centerline is valid? [True, True] Translation: X:98.59, Y:6.25, Z:6.30 [[ 9.86540565e-01 -4.55440708e-03 -1.63453270e-01 9.85918960e+01] [ 3.92243628e-03 9.99983534e-01 -4.18890107e-03 6.25427584e+00] [ 1.63469657e-01 3.49138579e-03 9.86542184e-01 6.30165523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26863999999998 meters Centerline goodness : 0.997239 with order 1 Centerline is valid? [True, True] Translation: X:98.65, Y:6.26, Z:6.29 [[ 9.85204689e-01 5.15256632e-02 -1.63452828e-01 9.86540797e+01] [-5.29235160e-02 9.98589711e-01 -4.20610063e-03 6.26135448e+00] [ 1.63005590e-01 1.27943684e-02 9.86542185e-01 6.28801742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32863999999998 meters Centerline goodness : 0.986704 with order 1 Centerline is valid? [True, True] Translation: X:98.70, Y:6.25, Z:6.35 [[ 9.86480362e-01 -1.18213029e-02 -1.63452601e-01 9.87045335e+01] [ 1.12840650e-02 9.99927450e-01 -4.21490181e-03 6.25317682e+00] [ 1.63490568e-01 2.31350808e-03 9.86542185e-01 6.34839784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38863999999998 meters Centerline goodness : 0.987682 with order 1 Centerline is valid? [True, True] Translation: X:98.76, Y:6.26, Z:6.36 [[ 9.86551240e-01 -3.17789277e-04 -1.63451978e-01 9.87621928e+01] [-3.80186527e-04 9.99990943e-01 -4.23892019e-03 6.26204252e+00] [ 1.63451845e-01 4.24405421e-03 9.86542185e-01 6.35611913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44863999999998 meters Centerline goodness : 0.996410 with order 1 Centerline is valid? [True, True] Translation: X:98.82, Y:6.27, Z:6.34 [[ 9.86549679e-01 -1.96207629e-03 -1.63449935e-01 9.88242076e+01] [ 1.27368974e-03 9.99989874e-01 -4.31629549e-03 6.26790697e+00] [ 1.63456749e-01 4.05005542e-03 9.86542188e-01 6.33979076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50863999999999 meters Centerline goodness : 0.987403 with order 1 Centerline is valid? [True, True] Translation: X:98.88, Y:6.27, Z:6.37 [[ 9.86491087e-01 -1.09603196e-02 -1.63447874e-01 9.88784760e+01] [ 1.03818449e-02 9.99936457e-01 -4.39299461e-03 6.27290367e+00] [ 1.63485637e-01 2.63675954e-03 9.86542191e-01 6.37356345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56863999999999 meters Centerline goodness : 0.997145 with order 1 Centerline is valid? [True, True] Translation: X:98.94, Y:6.27, Z:6.36 [[ 9.86401910e-01 -1.72265093e-02 -1.63445767e-01 9.89405237e+01] [ 1.67206890e-02 9.99850207e-01 -4.47004173e-03 6.27420518e+00] [ 1.63498288e-01 1.67633186e-03 9.86542194e-01 6.35854410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62863999999999 meters Centerline goodness : 0.953594 with order 3 Centerline is valid? [True, True] Translation: X:98.91, Y:6.23, Z:6.35 [[ 9.79514672e-01 -1.17631576e-01 -1.63443626e-01 9.89084331e+01] [ 1.18485763e-01 9.92945340e-01 -4.54702167e-03 6.22747085e+00] [ 1.62825461e-01 -1.49118683e-02 9.86542197e-01 6.34749002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68863999999998 meters Centerline goodness : 0.982998 with order 1 Centerline is valid? [True, True] Translation: X:99.03, Y:6.31, Z:6.38 [[ 9.82977134e-01 -8.83350633e-02 -1.61098944e-01 9.90299711e+01] [ 7.96124247e-02 9.95028693e-01 -5.98311152e-02 6.30504652e+00] [ 1.65583257e-01 4.59871406e-02 9.85123022e-01 6.37868358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74863999999998 meters Centerline goodness : 0.989524 with order 1 Centerline is valid? [True, True] Translation: X:99.09, Y:6.28, Z:6.41 [[ 9.86543771e-01 -1.44953082e-02 -1.62853537e-01 9.90867345e+01] [ 1.39617885e-02 9.99892760e-01 -4.42015675e-03 6.28159443e+00] [ 1.62900144e-01 2.08695147e-03 9.86640354e-01 6.40694016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80863999999998 meters Centerline goodness : 0.992515 with order 1 Centerline is valid? [True, True] Translation: X:99.15, Y:6.28, Z:6.41 [[ 9.86553463e-01 -1.38254177e-02 -1.62853070e-01 9.91452573e+01] [ 1.32800054e-02 9.99901971e-01 -4.43729532e-03 6.28375226e+00] [ 1.62898453e-01 2.21493942e-03 9.86640354e-01 6.40994057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86863999999998 meters Centerline goodness : 0.950826 with order 1 Centerline is valid? [True, True] Translation: X:99.21, Y:6.25, Z:6.40 [[ 9.82106448e-01 -9.45835651e-02 -1.62852309e-01 9.92073199e+01] [ 9.51287287e-02 9.95454966e-01 -4.46503737e-03 6.24927301e+00] [ 1.62534459e-01 -1.11067912e-02 9.86640354e-01 6.40271942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92863999999999 meters Centerline goodness : 0.998275 with order 1 Centerline is valid? [True, True] Translation: X:99.27, Y:6.30, Z:6.41 [[ 9.86645253e-01 -3.22780249e-03 -1.62851851e-01 9.92652641e+01] [ 2.53171791e-03 9.99986752e-01 -4.48169468e-03 6.29799366e+00] [ 1.62864159e-01 4.00954783e-03 9.86640354e-01 6.41409386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98863999999999 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:99.32, Y:6.31, Z:6.42 [[ 9.86648767e-01 1.88000153e-03 -1.62851700e-01 9.93227042e+01] [-2.64604637e-03 9.99986432e-01 -4.48716451e-03 6.30664608e+00] [ 1.62841055e-01 4.85816848e-03 9.86640354e-01 6.42306943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04863999999998 meters Centerline goodness : 0.998621 with order 1 Centerline is valid? [True, True] Translation: X:99.38, Y:6.34, Z:6.42 [[ 9.85792091e-01 4.11578001e-02 -1.62849587e-01 9.93804253e+01] [-4.24666240e-02 9.99087468e-01 -4.56261427e-03 6.34132886e+00] [ 1.62513194e-01 1.14134612e-02 9.86640357e-01 6.42081383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10863999999998 meters Centerline goodness : 0.998374 with order 1 Centerline is valid? [True, True] Translation: X:99.44, Y:6.34, Z:6.44 [[ 9.86640531e-01 4.55123237e-03 -1.62848854e-01 9.94360211e+01] [-5.37011207e-03 9.99975053e-01 -4.58861931e-03 6.33952839e+00] [ 1.62823908e-01 5.40183439e-03 9.86640358e-01 6.44259377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16863999999998 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:99.49, Y:6.36, Z:6.45 [[ 9.86646256e-01 -3.18206194e-03 -1.62846674e-01 9.94927148e+01] [ 2.45516739e-03 9.99986106e-01 -4.66473148e-03 6.35547475e+00] [ 1.62859255e-01 4.20262401e-03 9.86640361e-01 6.45093999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22863999999998 meters Centerline goodness : 0.917314 with order 1 Centerline is valid? [True, False] Translation: X:99.45, Y:6.40, Z:6.45 [[ 9.88751404e-01 -1.64307011e-02 -1.48663021e-01 9.94462228e+01] [ 9.21265213e-03 9.98750784e-01 -4.91120979e-02 6.39811669e+00] [ 1.49284255e-01 4.71900750e-02 9.87667610e-01 6.45423944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28863999999999 meters Centerline goodness : 0.993495 with order 1 Centerline is valid? [False, True] Translation: X:99.46, Y:6.43, Z:6.46 [[ 9.87160088e-01 -2.55497167e-02 -1.57677431e-01 9.94559395e+01] [ 1.29791839e-02 9.96690762e-01 -8.02437877e-02 6.42566759e+00] [ 1.59205845e-01 7.71669401e-02 9.84224955e-01 6.46324068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34863999999999 meters Centerline goodness : 0.993608 with order 1 Centerline is valid? [True, True] Translation: X:99.52, Y:6.36, Z:6.46 [[ 9.87021430e-01 -1.60628504e-02 -1.59783236e-01 9.95173701e+01] [ 1.57224022e-02 9.99870632e-01 -3.39475241e-03 6.36373335e+00] [ 1.59817094e-01 8.38517082e-04 9.87146288e-01 6.46069924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40863999999998 meters Centerline goodness : 0.997642 with order 1 Centerline is valid? [True, True] Translation: X:99.58, Y:6.37, Z:6.45 [[ 9.85696258e-01 -5.35979617e-02 -1.59781555e-01 9.95784977e+01] [ 5.37340212e-02 9.98549247e-01 -3.47211939e-03 6.36640053e+00] [ 1.59735850e-01 -5.16325037e-03 9.87146291e-01 6.45308472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46863999999998 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:99.64, Y:6.37, Z:6.46 [[ 9.85023692e-01 -6.47939362e-02 -1.59781324e-01 9.96379322e+01] [ 6.50743103e-02 9.97874343e-01 -3.48269194e-03 6.37372138e+00] [ 1.59667342e-01 -6.96712542e-03 9.87146291e-01 6.45623566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52863999999998 meters Centerline goodness : 0.996459 with order 1 Centerline is valid? [True, True] Translation: X:99.69, Y:6.39, Z:6.49 [[ 9.86909732e-01 -2.18931026e-02 -1.59780704e-01 9.96929288e+01] [ 2.16097559e-02 9.99760317e-01 -3.51091748e-03 6.38743742e+00] [ 1.59819273e-01 1.21366169e-05 9.87146291e-01 6.49084168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58863999999998 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:99.75, Y:6.39, Z:6.48 [[ 9.85436191e-01 -5.81866704e-02 -1.59780550e-01 9.97544038e+01] [ 5.83751545e-02 9.98288518e-01 -3.51791890e-03 6.38628430e+00] [ 1.59711785e-01 -5.86052971e-03 9.87146291e-01 6.48198885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64863999999999 meters Centerline goodness : 0.998184 with order 1 Centerline is valid? [True, True] Translation: X:99.81, Y:6.39, Z:6.51 [[ 9.86804376e-01 -2.62177936e-02 -1.59780321e-01 9.98103775e+01] [ 2.59879507e-02 9.99656030e-01 -3.52829419e-03 6.39421886e+00] [ 1.59817865e-01 -6.70626966e-04 9.87146291e-01 6.50905614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70863999999999 meters Centerline goodness : 0.997292 with order 1 Centerline is valid? [True, True] Translation: X:99.87, Y:6.40, Z:6.52 [[ 9.86704191e-01 -2.97512230e-02 -1.59780173e-01 9.98680798e+01] [ 2.95663151e-02 9.99556570e-01 -3.53500270e-03 6.39514189e+00] [ 1.59814492e-01 -1.23610896e-03 9.87146291e-01 6.52098686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76863999999998 meters Centerline goodness : 0.964117 with order 1 Centerline is valid? [True, True] Translation: X:99.93, Y:6.43, Z:6.51 [[ 9.85852866e-01 5.06453136e-02 -1.59778528e-01 9.99298953e+01] [-5.18872782e-02 9.98646431e-01 -3.60787099e-03 6.43351995e+00] [ 1.59379535e-01 1.18473029e-02 9.87146294e-01 6.50561956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82863999999998 meters Centerline goodness : 0.987417 with order 1 Centerline is valid? [True, True] Translation: X:99.99, Y:6.42, Z:6.52 [[ 9.86855451e-01 2.42323398e-02 -1.59778324e-01 9.99875920e+01] [-2.51327849e-02 9.99677579e-01 -3.61687937e-03 6.41727194e+00] [ 1.59639162e-01 7.58501136e-03 9.87146294e-01 6.52240425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88863999999998 meters Centerline goodness : 0.997347 with order 1 Centerline is valid? [True, True] Translation: X:100.05, Y:6.39, Z:6.55 [[ 9.86836378e-01 -2.50071641e-02 -1.59776736e-01 1.00045280e+02] [ 2.47360673e-02 9.99687222e-01 -3.68571410e-03 6.39000283e+00] [ 1.59818931e-01 -3.15051347e-04 9.87146296e-01 6.54802369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94863999999998 meters Centerline goodness : 0.995622 with order 1 Centerline is valid? [True, True] Translation: X:100.10, Y:6.39, Z:6.56 [[ 9.86962772e-01 -1.93886562e-02 -1.59776614e-01 1.00103591e+02] [ 1.90435487e-02 9.99811842e-01 -3.69099357e-03 6.39046592e+00] [ 1.59818115e-01 6.00159517e-04 9.87146296e-01 6.56032521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00863999999999 meters Centerline goodness : 0.995966 with order 1 Centerline is valid? [True, True] Translation: X:100.16, Y:6.39, Z:6.57 [[ 9.87084639e-01 -1.16374017e-02 -1.59776365e-01 1.00161920e+02] [ 1.11896619e-02 9.99930542e-01 -3.70173690e-03 6.39371284e+00] [ 1.59808346e-01 1.86608412e-03 9.87146296e-01 6.56829045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06863999999999 meters Centerline goodness : 0.995825 with order 1 Centerline is valid? [True, True] Translation: X:100.22, Y:6.40, Z:6.58 [[ 9.87139737e-01 -5.21725765e-03 -1.59774593e-01 1.00220578e+02] [ 4.67384626e-03 9.99981946e-01 -3.77672114e-03 6.40071813e+00] [ 1.59791413e-01 2.98138963e-03 9.87146299e-01 6.57579873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:100.28, Y:6.40, Z:6.56 [[ 9.87141884e-01 -4.80650382e-03 -1.59774209e-01 1.00283666e+02] [ 4.25512825e-03 9.99983754e-01 -3.79291757e-03 6.40431238e+00] [ 1.59789844e-01 3.06428805e-03 9.87146299e-01 6.56102384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18863999999998 meters Centerline goodness : 0.997192 with order 1 Centerline is valid? [True, True] Translation: X:100.34, Y:6.41, Z:6.59 [[ 9.87147436e-01 -3.49486756e-03 -1.59773985e-01 1.00338463e+02] [ 2.92490991e-03 9.99988494e-01 -3.80230876e-03 6.40964866e+00] [ 1.59785436e-01 3.28611483e-03 9.87146299e-01 6.59300295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24863999999998 meters Centerline goodness : 0.997299 with order 1 Centerline is valid? [True, True] Translation: X:100.40, Y:6.42, Z:6.60 [[ 9.87145769e-01 -4.00741496e-03 -1.59772247e-01 1.00395377e+02] [ 3.43252466e-03 9.99986605e-01 -3.87400876e-03 6.41595167e+00] [ 1.59785632e-01 3.27578918e-03 9.87146302e-01 6.60315527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30863999999998 meters Centerline goodness : 0.997737 with order 1 Centerline is valid? [True, True] Translation: X:100.45, Y:6.42, Z:6.61 [[ 9.87148288e-01 -3.36135623e-03 -1.59771584e-01 1.00453873e+02] [ 2.77366468e-03 9.99988544e-01 -3.90119053e-03 6.42146030e+00] [ 1.59782867e-01 3.40790075e-03 9.87146302e-01 6.61051735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36863999999998 meters Centerline goodness : 0.992821 with order 1 Centerline is valid? [True, True] Translation: X:100.51, Y:6.43, Z:6.63 [[ 9.87144970e-01 -4.29614936e-03 -1.59769680e-01 1.00511571e+02] [ 3.70824150e-03 9.99985213e-01 -3.97768766e-03 6.42763573e+00] [ 1.59784406e-01 3.33408981e-03 9.87146305e-01 6.62888000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42863999999999 meters Centerline goodness : 0.996608 with order 1 Centerline is valid? [True, True] Translation: X:100.57, Y:6.44, Z:6.63 [[ 9.87154239e-01 4.78539829e-04 -1.59769459e-01 1.00571720e+02] [-1.12997458e-03 9.99991415e-01 -3.98651582e-03 6.43636015e+00] [ 1.59766180e-01 4.11584142e-03 9.87146305e-01 6.63269548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48863999999999 meters Centerline goodness : 0.998282 with order 1 Centerline is valid? [True, True] Translation: X:100.63, Y:6.44, Z:6.64 [[ 9.87143798e-01 4.57163628e-03 -1.59769280e-01 1.00629415e+02] [-5.27745327e-03 9.99978099e-01 -3.99369085e-03 6.44213363e+00] [ 1.59747523e-01 4.78552206e-03 9.87146305e-01 6.64065702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54863999999998 meters Centerline goodness : 0.997098 with order 1 Centerline is valid? [True, True] Translation: X:100.69, Y:6.45, Z:6.65 [[ 9.87118714e-01 8.40459677e-03 -1.59768605e-01 1.00687627e+02] [-9.16458159e-03 9.99949922e-01 -4.02052777e-03 6.44790955e+00] [ 1.59726813e-01 5.43295061e-03 9.87146305e-01 6.65102298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60863999999998 meters Centerline goodness : 0.993955 with order 1 Centerline is valid? [True, True] Translation: X:100.75, Y:6.45, Z:6.67 [[ 9.87113746e-01 8.98758872e-03 -1.59767565e-01 1.00745348e+02] [-9.76176337e-03 9.99944105e-01 -4.06142794e-03 6.45161413e+00] [ 1.59722133e-01 5.56870451e-03 9.87146306e-01 6.66737931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:100.81, Y:6.45, Z:6.65 [[ 9.87131427e-01 6.77957181e-03 -1.59767278e-01 1.00809191e+02] [-7.52686935e-03 9.99963379e-01 -4.07270975e-03 6.45288421e+00] [ 1.59733816e-01 5.22284721e-03 9.87146306e-01 6.64957773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72863999999998 meters Centerline goodness : 0.996554 with order 1 Centerline is valid? [True, True] Translation: X:100.87, Y:6.45, Z:6.68 [[ 9.87147902e-01 3.67472842e-03 -1.59767070e-01 1.00865172e+02] [-4.38297851e-03 9.99982068e-01 -4.08085042e-03 6.45124482e+00] [ 1.59749209e-01 4.72865856e-03 9.87146306e-01 6.67902296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:100.93, Y:6.45, Z:6.67 [[ 9.87147010e-01 3.91244889e-03 -1.59766934e-01 1.00926991e+02] [-4.62464888e-03 9.99980958e-01 -4.08616422e-03 6.45393497e+00] [ 1.59747905e-01 4.77251076e-03 9.87146306e-01 6.67030714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84863999999999 meters Centerline goodness : 0.997201 with order 1 Centerline is valid? [True, True] Translation: X:100.98, Y:6.46, Z:6.70 [[ 9.87134418e-01 6.34406630e-03 -1.59766683e-01 1.00982401e+02] [-7.08946093e-03 9.99966481e-01 -4.09595562e-03 6.45789331e+00] [ 1.59735343e-01 5.17591842e-03 9.87146306e-01 6.69927380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90863999999998 meters Centerline goodness : 0.996420 with order 1 Centerline is valid? [True, True] Translation: X:101.04, Y:6.46, Z:6.71 [[ 9.87128035e-01 7.29052885e-03 -1.59765734e-01 1.01039440e+02] [-8.05415589e-03 9.99959025e-01 -4.13263185e-03 6.46216137e+00] [ 1.59729059e-01 5.36621489e-03 9.87146307e-01 6.71238450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96863999999998 meters Centerline goodness : 0.996561 with order 1 Centerline is valid? [True, True] Translation: X:101.10, Y:6.47, Z:6.72 [[ 9.87149459e-01 3.32172541e-03 -1.59765174e-01 1.01096937e+02] [-4.03724473e-03 9.99983222e-01 -4.15418615e-03 6.46777057e+00] [ 1.59748694e-01 4.74581372e-03 9.87146307e-01 6.72216334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:101.16, Y:6.47, Z:6.71 [[ 9.87136533e-01 -6.07409770e-03 -1.59764108e-01 1.01159455e+02] [ 5.47419385e-03 9.99976218e-01 -4.19478763e-03 6.46933948e+00] [ 1.59785788e-01 3.26624842e-03 9.87146308e-01 6.70733768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08863999999998 meters Centerline goodness : 0.994799 with order 1 Centerline is valid? [True, True] Translation: X:101.21, Y:6.47, Z:6.74 [[ 9.87080604e-01 -1.21428146e-02 -1.59763681e-01 1.01213644e+02] [ 1.16192407e-02 9.99923628e-01 -4.21097027e-03 6.47195480e+00] [ 1.59802613e-01 2.30023441e-03 9.87146308e-01 6.74176119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14863999999999 meters Centerline goodness : 0.993019 with order 1 Centerline is valid? [True, True] Translation: X:101.27, Y:6.48, Z:6.75 [[ 9.87027545e-01 -1.58861656e-02 -1.59763122e-01 1.01271713e+02] [ 1.54078856e-02 9.99872335e-01 -4.23207820e-03 6.47669467e+00] [ 1.59809958e-01 1.71556584e-03 9.87146308e-01 6.75231669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20863999999999 meters Centerline goodness : 0.993463 with order 1 Centerline is valid? [True, True] Translation: X:101.33, Y:6.48, Z:6.76 [[ 9.86939240e-01 -2.06707219e-02 -1.59761254e-01 1.01329772e+02] [ 2.02434802e-02 9.99785826e-01 -4.30148017e-03 6.47857051e+00] [ 1.59815952e-01 1.01117580e-03 9.87146311e-01 6.76200408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26863999999998 meters Centerline goodness : 0.991800 with order 1 Centerline is valid? [True, True] Translation: X:101.39, Y:6.48, Z:6.77 [[ 9.86759284e-01 -2.79842833e-02 -1.59759179e-01 1.01386858e+02] [ 2.76399952e-02 9.99608359e-01 -4.37722314e-03 6.47843910e+00] [ 1.59819104e-01 -9.64773782e-05 9.87146314e-01 6.77415483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32863999999998 meters Centerline goodness : 0.992926 with order 1 Centerline is valid? [True, True] Translation: X:101.44, Y:6.48, Z:6.78 [[ 9.86631508e-01 -3.21874961e-02 -1.59756794e-01 1.01444774e+02] [ 3.18841149e-02 9.99481610e-01 -4.46264623e-03 6.47592325e+00] [ 1.59817619e-01 -6.90716587e-04 9.87146317e-01 6.78460826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38863999999998 meters Centerline goodness : 0.989148 with order 1 Centerline is valid? [True, True] Translation: X:101.50, Y:6.47, Z:6.80 [[ 9.86455619e-01 -3.71922636e-02 -1.59756212e-01 1.01502126e+02] [ 3.69507200e-02 9.99307032e-01 -4.48336350e-03 6.47148074e+00] [ 1.59812253e-01 -1.48046795e-03 9.87146317e-01 6.79509962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44863999999998 meters Centerline goodness : 0.991635 with order 1 Centerline is valid? [True, True] Translation: X:101.56, Y:6.46, Z:6.80 [[ 9.86424571e-01 -3.80168630e-02 -1.59753825e-01 1.01561008e+02] [ 3.77725362e-02 9.99275927e-01 -4.56689037e-03 6.46396848e+00] [ 1.59811770e-01 -1.52941426e-03 9.87146321e-01 6.80209115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50863999999999 meters Centerline goodness : 0.989774 with order 1 Centerline is valid? [True, True] Translation: X:101.62, Y:6.46, Z:6.81 [[ 9.86486491e-01 -3.63838443e-02 -1.59751744e-01 1.01618949e+02] [ 3.61066357e-02 9.99337178e-01 -4.63857195e-03 6.45732733e+00] [ 1.59814626e-01 -1.19220946e-03 9.87146323e-01 6.81105297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56863999999999 meters Centerline goodness : 0.992628 with order 1 Centerline is valid? [True, True] Translation: X:101.68, Y:6.46, Z:6.82 [[ 9.86636229e-01 -3.20783845e-02 -1.59749583e-01 1.01677107e+02] [ 3.17332329e-02 9.99485268e-01 -4.71184660e-03 6.45582734e+00] [ 1.59818503e-01 -4.20492171e-04 9.87146326e-01 6.81927915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62863999999998 meters Centerline goodness : 0.994497 with order 1 Centerline is valid? [True, True] Translation: X:101.74, Y:6.45, Z:6.83 [[ 9.86781646e-01 -2.72538169e-02 -1.59747337e-01 1.01736172e+02] [ 2.68337067e-02 9.99628450e-01 -4.78681805e-03 6.45226861e+00] [ 1.59818442e-01 4.36931010e-04 9.87146329e-01 6.82555965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68863999999998 meters Centerline goodness : 0.988774 with order 1 Centerline is valid? [True, True] Translation: X:101.79, Y:6.45, Z:6.84 [[ 9.86576959e-01 -3.38651301e-02 -1.59746855e-01 1.01794655e+02] [ 3.35285112e-02 9.99426221e-01 -4.80286381e-03 6.44842828e+00] [ 1.59817845e-01 -6.17679443e-04 9.87146329e-01 6.84169009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74863999999998 meters Centerline goodness : 0.992826 with order 1 Centerline is valid? [True, True] Translation: X:101.85, Y:6.45, Z:6.85 [[ 9.86890335e-01 -2.29882686e-02 -1.59746694e-01 1.01854686e+02] [ 2.25091699e-02 9.99735074e-01 -4.80821306e-03 6.45277537e+00] [ 1.59814905e-01 1.14941352e-03 9.87146329e-01 6.84608937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:101.92, Y:6.44, Z:6.83 [[ 9.86228331e-01 -4.28336812e-02 -1.59746534e-01 1.01918200e+02] [ 4.26121790e-02 9.99080093e-01 -4.81350064e-03 6.43935314e+00] [ 1.59805762e-01 -2.05993721e-03 9.87146329e-01 6.83305777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86863999999998 meters Centerline goodness : 0.996604 with order 1 Centerline is valid? [True, True] Translation: X:101.97, Y:6.43, Z:6.86 [[ 9.86152474e-01 -4.45471817e-02 -1.59746193e-01 1.01974552e+02] [ 4.43461802e-02 9.99004573e-01 -4.82479680e-03 6.43207834e+00] [ 1.59802109e-01 -2.32614818e-03 9.87146329e-01 6.86140309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92863999999999 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:102.04, Y:6.44, Z:6.85 [[ 9.86946793e-01 -2.04262371e-02 -1.59746039e-01 1.02036144e+02] [ 1.99102859e-02 9.99790104e-01 -4.82989731e-03 6.43745043e+00] [ 1.59811166e-01 1.58626235e-03 9.87146329e-01 6.85180462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:102.10, Y:6.42, Z:6.86 [[ 9.85840544e-01 -5.09879991e-02 -1.59745566e-01 1.02095377e+02] [ 5.08676042e-02 9.98693651e-01 -4.84548282e-03 6.41721494e+00] [ 1.59783944e-01 -3.34900082e-03 9.87146329e-01 6.85895150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04863999999998 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:102.15, Y:6.41, Z:6.87 [[ 9.85684657e-01 -5.39241539e-02 -1.59743364e-01 1.02153811e+02] [ 5.38304520e-02 9.98537984e-01 -4.91704487e-03 6.41025658e+00] [ 1.59774964e-01 -3.75240180e-03 9.87146332e-01 6.86972547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10863999999998 meters Centerline goodness : 0.988792 with order 1 Centerline is valid? [True, True] Translation: X:102.21, Y:6.43, Z:6.89 [[ 9.87143943e-01 5.44188338e-03 -1.59741108e-01 1.02210487e+02] [-6.31995350e-03 9.99967582e-01 -4.98930341e-03 6.42775256e+00] [ 1.59708778e-01 5.93471702e-03 9.87146334e-01 6.88613809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:102.27, Y:6.40, Z:6.89 [[ 9.85868828e-01 -5.04595770e-02 -1.59738804e-01 1.02269971e+02] [ 5.02972229e-02 9.98721465e-01 -5.06200451e-03 6.39621009e+00] [ 1.59789999e-01 -3.04394578e-03 9.87146337e-01 6.89032741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22863999999998 meters Centerline goodness : 0.993702 with order 1 Centerline is valid? [True, True] Translation: X:102.33, Y:6.39, Z:6.93 [[ 9.85917630e-01 -4.94995438e-02 -1.59737979e-01 1.02325615e+02] [ 4.93204803e-02 9.98770045e-01 -5.08789759e-03 6.39223601e+00] [ 1.59793358e-01 -2.86210594e-03 9.87146337e-01 6.92516114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28863999999999 meters Centerline goodness : 0.995624 with order 1 Centerline is valid? [True, True] Translation: X:102.38, Y:6.39, Z:6.94 [[ 9.86024117e-01 -4.73314345e-02 -1.59737835e-01 1.02384007e+02] [ 4.71233746e-02 9.98876096e-01 -5.09243555e-03 6.38612100e+00] [ 1.59799337e-01 -2.50612155e-03 9.87146337e-01 6.93552817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34863999999999 meters Centerline goodness : 0.992017 with order 1 Centerline is valid? [True, True] Translation: X:102.44, Y:6.38, Z:6.95 [[ 9.86199535e-01 -4.35323107e-02 -1.59735454e-01 1.02441577e+02] [ 4.32628139e-02 9.99050369e-01 -5.16606759e-03 6.38013669e+00] [ 1.59808655e-01 -1.81583176e-03 9.87146340e-01 6.94742545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40863999999998 meters Centerline goodness : 0.995425 with order 1 Centerline is valid? [True, True] Translation: X:102.50, Y:6.38, Z:6.95 [[ 9.86308712e-01 -4.09869095e-02 -1.59734773e-01 1.02501286e+02] [ 4.06808517e-02 9.99158728e-01 -5.18703508e-03 6.37939015e+00] [ 1.59812993e-01 -1.38212871e-03 9.87146340e-01 6.95440670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:102.56, Y:6.38, Z:6.94 [[ 9.86440180e-01 -3.76915531e-02 -1.59734524e-01 1.02564159e+02] [ 3.73413291e-02 9.99289068e-01 -5.19467855e-03 6.37805158e+00] [ 1.59816759e-01 -8.40459804e-04 9.87146340e-01 6.93918778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.62, Y:6.38, Z:6.95 [[ 9.86440259e-01 -3.76904760e-02 -1.59734289e-01 1.02621924e+02] [ 3.73390678e-02 9.99289114e-01 -5.20190575e-03 6.37850946e+00] [ 1.59816799e-01 -8.32960188e-04 9.87146340e-01 6.94835867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:102.68, Y:6.38, Z:6.96 [[ 9.86523899e-01 -3.54416648e-02 -1.59732541e-01 1.02679413e+02] [ 3.50523646e-02 9.99371661e-01 -5.25503435e-03 6.37698833e+00] [ 1.59818422e-01 -4.14786304e-04 9.87146342e-01 6.95925485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64863999999999 meters Centerline goodness : 0.995571 with order 1 Centerline is valid? [True, True] Translation: X:102.73, Y:6.38, Z:7.00 [[ 9.86560696e-01 -3.44136880e-02 -1.59730058e-01 1.02734537e+02] [ 3.39989500e-02 9.99407659e-01 -5.32946430e-03 6.37587545e+00] [ 1.59818850e-01 -1.72814258e-04 9.87146344e-01 6.99718168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70863999999999 meters Centerline goodness : 0.997194 with order 1 Centerline is valid? [True, True] Translation: X:102.79, Y:6.37, Z:7.00 [[ 9.86651584e-01 -3.17018896e-02 -1.59729904e-01 1.02794259e+02] [ 3.12510943e-02 9.99497332e-01 -5.33408232e-03 6.37258945e+00] [ 1.59818714e-01 2.71146480e-04 9.87146344e-01 7.00037053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76863999999998 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:102.85, Y:6.38, Z:7.01 [[ 9.86846855e-01 -2.48960161e-02 -1.59729372e-01 1.02853930e+02] [ 2.43540617e-02 9.99689080e-01 -5.34996292e-03 6.37520769e+00] [ 1.59812902e-01 1.38953510e-03 9.87146345e-01 7.00629540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82863999999998 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:102.91, Y:6.38, Z:7.02 [[ 9.86946484e-01 -2.05728447e-02 -1.59729135e-01 1.02911609e+02] [ 1.99734930e-02 9.99786158e-01 -5.35704789e-03 6.37995471e+00] [ 1.59805188e-01 2.09677082e-03 9.87146345e-01 7.01550981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88863999999998 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:102.97, Y:6.39, Z:7.02 [[ 9.87060558e-01 -1.41021837e-02 -1.59726588e-01 1.02970479e+02] [ 1.34065552e-02 9.99895374e-01 -5.43194700e-03 6.38902466e+00] [ 1.59786479e-01 3.22027732e-03 9.87146347e-01 7.02401064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94863999999998 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:103.03, Y:6.40, Z:7.03 [[ 9.87021223e-01 -1.66325084e-02 -1.59726218e-01 1.03028633e+02] [ 1.59680298e-02 9.99857689e-01 -5.44279492e-03 6.39521844e+00] [ 1.59794015e-01 2.82164109e-03 9.87146347e-01 7.03486165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00863999999999 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:103.09, Y:6.40, Z:7.03 [[ 9.86897509e-01 -2.28389682e-02 -1.59723787e-01 1.03089513e+02] [ 2.22438231e-02 9.99737374e-01 -5.51324590e-03 6.39975517e+00] [ 1.59807756e-01 1.88814099e-03 9.87146350e-01 7.02705129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06863999999999 meters Centerline goodness : 0.997934 with order 1 Centerline is valid? [True, True] Translation: X:103.14, Y:6.41, Z:7.06 [[ 9.86890021e-01 -2.31787440e-02 -1.59721106e-01 1.03143910e+02] [ 2.25756230e-02 9.99729511e-01 -5.58985205e-03 6.40510821e+00] [ 1.59807469e-01 1.91076572e-03 9.87146353e-01 7.05532963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12863999999998 meters Centerline goodness : 0.997834 with order 1 Centerline is valid? [True, True] Translation: X:103.20, Y:6.41, Z:7.06 [[ 9.86937988e-01 -2.10579717e-02 -1.59718409e-01 1.03202340e+02] [ 2.04149569e-02 9.99775538e-01 -5.66589992e-03 6.40978155e+00] [ 1.59801871e-01 2.33124743e-03 9.87146356e-01 7.06226255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18863999999998 meters Centerline goodness : 0.997642 with order 1 Centerline is valid? [True, True] Translation: X:103.26, Y:6.41, Z:7.07 [[ 9.86965503e-01 -1.97485177e-02 -1.59715660e-01 1.03259551e+02] [ 1.90760993e-02 9.99801544e-01 -5.74237119e-03 6.41382506e+00] [ 1.59797367e-01 2.62077048e-03 9.87146358e-01 7.07322639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24863999999998 meters Centerline goodness : 0.996115 with order 1 Centerline is valid? [True, True] Translation: X:103.32, Y:6.42, Z:7.08 [[ 9.86980139e-01 -1.90300165e-02 -1.59712442e-01 1.03316727e+02] [ 1.83339910e-02 9.99814918e-01 -5.83053744e-03 6.41849163e+00] [ 1.59793837e-01 2.82645817e-03 9.87146362e-01 7.08230138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30863999999998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:103.38, Y:6.42, Z:7.07 [[ 9.86892653e-01 -2.31486427e-02 -1.59709208e-01 1.03378276e+02] [ 2.24920597e-02 9.99729507e-01 -5.91783482e-03 6.42216267e+00] [ 1.59802998e-01 2.24807867e-03 9.87146366e-01 7.07236840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36863999999998 meters Centerline goodness : 0.996256 with order 1 Centerline is valid? [True, True] Translation: X:103.43, Y:6.43, Z:7.10 [[ 9.86887270e-01 -2.33952058e-02 -1.59706545e-01 1.03433670e+02] [ 2.27303396e-02 9.99723694e-01 -5.98885140e-03 6.42640022e+00] [ 1.59802528e-01 2.28013720e-03 9.87146369e-01 7.09935834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42863999999999 meters Centerline goodness : 0.996264 with order 1 Centerline is valid? [True, True] Translation: X:103.49, Y:6.43, Z:7.11 [[ 9.86809415e-01 -2.64937789e-02 -1.59703658e-01 1.03490489e+02] [ 2.58569158e-02 9.99647256e-01 -6.06489225e-03 6.42750357e+00] [ 1.59808006e-01 1.85544874e-03 9.87146371e-01 7.10938556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48863999999998 meters Centerline goodness : 0.996261 with order 1 Centerline is valid? [True, True] Translation: X:103.55, Y:6.43, Z:7.12 [[ 9.86778287e-01 -2.76486619e-02 -1.59700233e-01 1.03548895e+02] [ 2.70124384e-02 9.99616156e-01 -6.15378794e-03 6.42666671e+00] [ 1.59809077e-01 1.75853159e-03 9.87146375e-01 7.11853695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54863999999998 meters Centerline goodness : 0.996806 with order 1 Centerline is valid? [True, True] Translation: X:103.61, Y:6.43, Z:7.13 [[ 9.86793218e-01 -2.71281144e-02 -1.59697246e-01 1.03607086e+02] [ 2.64727249e-02 9.99630120e-01 -6.23038264e-03 6.42904521e+00] [ 1.59807195e-01 1.92047809e-03 9.87146378e-01 7.12675341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60863999999998 meters Centerline goodness : 0.996703 with order 1 Centerline is valid? [True, True] Translation: X:103.66, Y:6.43, Z:7.14 [[ 9.86905434e-01 -2.27030977e-02 -1.59694186e-01 1.03664850e+02] [ 2.19776240e-02 9.99738563e-01 -6.30784256e-03 6.43182356e+00] [ 1.59795644e-01 2.71554532e-03 9.87146381e-01 7.13586362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66863999999998 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:103.73, Y:6.43, Z:7.13 [[ 9.86844273e-01 -2.52412875e-02 -1.59691133e-01 1.03726814e+02] [ 2.45364627e-02 9.99678550e-01 -6.38423695e-03 6.43310069e+00] [ 1.59800946e-01 2.38199216e-03 9.87146384e-01 7.12812339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72863999999998 meters Centerline goodness : 0.995427 with order 1 Centerline is valid? [True, True] Translation: X:103.78, Y:6.44, Z:7.16 [[ 9.86843924e-01 -2.52563117e-02 -1.59690916e-01 1.03781324e+02] [ 2.45508076e-02 9.99678163e-01 -6.38964315e-03 6.43690631e+00] [ 1.59800901e-01 2.38503955e-03 9.87146384e-01 7.15874928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78863999999999 meters Centerline goodness : 0.996407 with order 1 Centerline is valid? [True, True] Translation: X:103.84, Y:6.44, Z:7.16 [[ 9.86861165e-01 -2.45932384e-02 -1.59687866e-01 1.03839690e+02] [ 2.38669204e-02 9.99694240e-01 -6.46499922e-03 6.44022889e+00] [ 1.59798035e-01 2.56879907e-03 9.87146387e-01 7.16464044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84863999999999 meters Centerline goodness : 0.955961 with order 1 Centerline is valid? [True, True] Translation: X:103.90, Y:6.41, Z:7.15 [[ 9.80844938e-01 -1.11552626e-01 -1.59684748e-01 1.03902492e+02] [ 1.11948871e-01 9.93692439e-01 -6.54112790e-03 6.40748366e+00] [ 1.59407207e-01 -1.14606950e-02 9.87146390e-01 7.15300488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90863999999998 meters Centerline goodness : 0.997001 with order 1 Centerline is valid? [True, True] Translation: X:103.96, Y:6.45, Z:7.18 [[ 9.86986071e-01 -1.89815427e-02 -1.59681545e-01 1.03955052e+02] [ 1.81574590e-02 9.99813234e-01 -6.61841313e-03 6.45209771e+00] [ 1.59777350e-01 3.63287046e-03 9.87146393e-01 7.18450454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96863999999998 meters Centerline goodness : 0.997243 with order 1 Centerline is valid? [True, True] Translation: X:104.01, Y:6.46, Z:7.19 [[ 9.87024459e-01 -1.68981760e-02 -1.59678332e-01 1.04013646e+02] [ 1.60346260e-02 9.99849022e-01 -6.69506423e-03 6.45765405e+00] [ 1.59767358e-01 4.04780981e-03 9.87146396e-01 7.19142752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02863999999998 meters Centerline goodness : 0.997588 with order 1 Centerline is valid? [True, True] Translation: X:104.07, Y:6.46, Z:7.20 [[ 9.87081006e-01 -1.32266162e-02 -1.59675122e-01 1.04070806e+02] [ 1.23031329e-02 9.99901390e-01 -6.77076735e-03 6.46483518e+00] [ 1.59748931e-01 4.71879159e-03 9.87146398e-01 7.20263936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08863999999998 meters Centerline goodness : 0.997046 with order 1 Centerline is valid? [True, True] Translation: X:104.13, Y:6.47, Z:7.22 [[ 9.87044399e-01 -1.57557608e-02 -1.59671885e-01 1.04127491e+02] [ 1.48529242e-02 9.99866251e-01 -6.84627608e-03 6.47127428e+00] [ 1.59758397e-01 4.38598405e-03 9.87146401e-01 7.21702395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14863999999999 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:104.19, Y:6.47, Z:7.20 [[ 9.86920586e-01 -2.22188150e-02 -1.59668661e-01 1.04189131e+02] [ 2.13879265e-02 9.99747298e-01 -6.92067742e-03 6.47450681e+00] [ 1.59782082e-01 3.41517743e-03 9.87146404e-01 7.20287330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20863999999999 meters Centerline goodness : 0.998574 with order 1 Centerline is valid? [True, True] Translation: X:104.25, Y:6.48, Z:7.23 [[ 9.86859412e-01 -2.48084899e-02 -1.59665399e-01 1.04245055e+02] [ 2.39992193e-02 9.99687504e-01 -6.99514056e-03 6.47777591e+00] [ 1.59789043e-01 3.07137538e-03 9.87146407e-01 7.22745058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:104.31, Y:6.49, Z:7.22 [[ 9.86825970e-01 -2.61092043e-02 -1.59664691e-01 1.04306419e+02] [ 2.53142334e-02 9.99654956e-01 -7.01127209e-03 6.48538149e+00] [ 1.59792658e-01 2.87711615e-03 9.87146407e-01 7.22260766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32863999999998 meters Centerline goodness : 0.998574 with order 1 Centerline is valid? [True, True] Translation: X:104.36, Y:6.49, Z:7.25 [[ 9.86905311e-01 -2.29165533e-02 -1.59664454e-01 1.04361844e+02] [ 2.20792110e-02 9.99731601e-01 -7.01666465e-03 6.49400055e+00] [ 1.59782398e-01 3.39951846e-03 9.87146407e-01 7.25062294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38863999999998 meters Centerline goodness : 0.849400 with order 3 Centerline is valid? [True, False] Translation: X:104.32, Y:6.52, Z:7.25 [[ 9.88950204e-01 -2.74602262e-02 -1.45682633e-01 1.04315535e+02] [ 2.15125381e-02 9.98875607e-01 -4.22460868e-02 6.52271466e+00] [ 1.46678916e-01 3.86452730e-02 9.88428975e-01 7.25149731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44863999999998 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [False, True] Translation: X:104.26, Y:6.55, Z:7.25 [[ 9.91848931e-01 -3.22439752e-02 -1.23272155e-01 1.04259269e+02] [ 2.30668220e-02 9.96904519e-01 -7.51618385e-02 6.55146196e+00] [ 1.25314084e-01 7.17056923e-02 9.89522447e-01 7.25402159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:104.32, Y:6.49, Z:7.24 [[ 9.90223430e-01 -5.60963430e-02 -1.27713582e-01 1.04324415e+02] [ 5.55451199e-02 9.98425111e-01 -7.87636200e-03 6.49342647e+00] [ 1.27954282e-01 7.05491996e-04 9.91779816e-01 7.24274241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56863999999999 meters Centerline goodness : 0.881484 with order 3 Centerline is valid? [True, False] Translation: X:104.34, Y:6.52, Z:7.25 [[ 9.89600558e-01 -4.85149369e-02 -1.35414313e-01 1.04338448e+02] [ 4.35902094e-02 9.98284043e-01 -3.91006806e-02 6.51692645e+00] [ 1.37078915e-01 3.27913171e-02 9.90017222e-01 7.24929873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [False, True] Translation: X:104.34, Y:6.52, Z:7.25 [[ 9.91031231e-01 -4.11514259e-02 -1.27136384e-01 1.04335196e+02] [ 3.53144013e-02 9.98231019e-01 -4.78301731e-02 6.51918827e+00] [ 1.28879762e-01 4.29114501e-02 9.90731353e-01 7.24879383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68863999999998 meters Centerline goodness : 0.997242 with order 1 Centerline is valid? [True, True] Translation: X:104.40, Y:6.49, Z:7.24 [[ 9.91684266e-01 -1.20128327e-03 -1.28689055e-01 1.04397441e+02] [ 6.63776427e-04 9.99990877e-01 -4.21959488e-03 6.49292220e+00] [ 1.28692950e-01 4.09908509e-03 9.91676017e-01 7.23529445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.45, Y:6.47, Z:7.26 [[ 9.91058312e-01 -3.52518683e-02 -1.28688491e-01 1.04454505e+02] [ 3.49976781e-02 9.99378413e-01 -4.23671458e-03 6.47338670e+00] [ 1.28757852e-01 -3.04967197e-04 9.91676017e-01 7.25686372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:104.51, Y:6.47, Z:7.26 [[ 9.91265330e-01 -2.88588801e-02 -1.28686485e-01 1.04512927e+02] [ 2.85432299e-02 9.99583324e-01 -4.29680780e-03 6.47141672e+00] [ 1.28756865e-01 5.86148674e-04 9.91676019e-01 7.26391274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:104.57, Y:6.47, Z:7.27 [[ 9.91405780e-01 -2.35560548e-02 -1.28684467e-01 1.04571136e+02] [ 2.31881777e-02 9.99721626e-01 -4.35642321e-03 6.47285306e+00] [ 1.28751265e-01 1.33502486e-03 9.91676020e-01 7.26981821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.63, Y:6.48, Z:7.28 [[ 9.91434291e-01 -2.23358209e-02 -1.28682389e-01 1.04629096e+02] [ 2.19498510e-02 9.99749316e-01 -4.41697357e-03 6.47723147e+00] [ 1.28748787e-01 1.55457979e-03 9.91676022e-01 7.27677745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:104.69, Y:6.48, Z:7.27 [[ 9.91349232e-01 -2.58472923e-02 -1.28680295e-01 1.04690907e+02] [ 2.54829636e-02 9.99665231e-01 -4.47716572e-03 6.48019613e+00] [ 1.28752939e-01 1.15927953e-03 9.91676024e-01 7.26695057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:104.75, Y:6.49, Z:7.29 [[ 9.91398775e-01 -2.38723553e-02 -1.28680146e-01 1.04746794e+02] [ 2.34909051e-02 9.99714006e-01 -4.48144832e-03 6.48706676e+00] [ 1.28750327e-01 1.42008929e-03 9.91676024e-01 7.29375645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:104.80, Y:6.49, Z:7.30 [[ 9.91394054e-01 -2.40710078e-02 -1.28679507e-01 1.04804060e+02] [ 2.36888521e-02 9.99709253e-01 -4.49972261e-03 6.49178212e+00] [ 1.28750406e-01 1.41272844e-03 9.91676024e-01 7.30251881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16863999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:104.86, Y:6.50, Z:7.31 [[ 9.91457398e-01 -2.13177148e-02 -1.28677049e-01 1.04862290e+02] [ 2.09034844e-02 9.99771058e-01 -4.56895777e-03 6.50367057e+00] [ 1.28744989e-01 1.84012830e-03 9.91676027e-01 7.30970213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:104.92, Y:6.51, Z:7.32 [[ 9.91380234e-01 -2.46578163e-02 -1.28674878e-01 1.04919819e+02] [ 2.42637659e-02 9.99694873e-01 -4.62930014e-03 6.51142056e+00] [ 1.28749764e-01 1.46725954e-03 9.91676028e-01 7.31905217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:104.98, Y:6.52, Z:7.32 [[ 9.91274675e-01 -2.85983159e-02 -1.28672666e-01 1.04978031e+02] [ 2.82294401e-02 9.99590467e-01 -4.69000048e-03 6.52161489e+00] [ 1.28754096e-01 1.01672140e-03 9.91676030e-01 7.32488231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34863999999999 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:105.04, Y:6.53, Z:7.33 [[ 9.91110942e-01 -3.38086126e-02 -1.28670426e-01 1.05036182e+02] [ 3.34755774e-02 9.99428245e-01 -4.75067417e-03 6.53148356e+00] [ 1.28757471e-01 4.01128353e-04 9.91676032e-01 7.33428717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40863999999998 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:105.09, Y:6.54, Z:7.35 [[ 9.90980257e-01 -3.74512598e-02 -1.28668304e-01 1.05093446e+02] [ 3.71414246e-02 9.99298455e-01 -4.80745856e-03 6.54030798e+00] [ 1.28758083e-01 -1.48276026e-05 9.91676034e-01 7.34544395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46863999999998 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:105.15, Y:6.55, Z:7.35 [[ 9.90937873e-01 -3.85639820e-02 -1.28666045e-01 1.05151635e+02] [ 3.82557330e-02 9.99256128e-01 -4.86717855e-03 6.54564958e+00] [ 1.28758032e-01 -9.91423258e-05 9.91676035e-01 7.35180525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52863999999998 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:105.21, Y:6.55, Z:7.36 [[ 9.90858728e-01 -4.05540496e-02 -1.28663710e-01 1.05209721e+02] [ 4.02545886e-02 9.99177302e-01 -4.92816030e-03 6.54965008e+00] [ 1.28757715e-01 -2.96194065e-04 9.91676037e-01 7.35811520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:105.27, Y:6.55, Z:7.36 [[ 9.90826250e-01 -4.13472614e-02 -1.28661365e-01 1.05267781e+02] [ 4.10466052e-02 9.99144779e-01 -4.98864984e-03 6.55115812e+00] [ 1.28757598e-01 -3.38227029e-04 9.91676039e-01 7.36360219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64863999999999 meters Centerline goodness : 0.998869 with order 1 Centerline is valid? [True, True] Translation: X:105.33, Y:6.55, Z:7.37 [[ 9.90782305e-01 -4.23897231e-02 -1.28660543e-01 1.05326493e+02] [ 4.20950791e-02 9.99101049e-01 -5.00975148e-03 6.55192176e+00] [ 1.28757246e-01 -4.52402620e-04 9.91676039e-01 7.37206573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70863999999999 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:105.38, Y:6.55, Z:7.38 [[ 9.90763593e-01 -4.28313560e-02 -1.28658374e-01 1.05384318e+02] [ 4.25332648e-02 9.99082213e-01 -5.06485273e-03 6.55411476e+00] [ 1.28757228e-01 -4.54189004e-04 9.91676041e-01 7.38235935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76863999999998 meters Centerline goodness : 0.991338 with order 1 Centerline is valid? [True, True] Translation: X:105.45, Y:6.53, Z:7.37 [[ 9.87311602e-01 -9.30775749e-02 -1.28655993e-01 1.05446095e+02] [ 9.31944409e-02 9.95634739e-01 -5.12462959e-03 6.52921297e+00] [ 1.28571365e-01 -6.93041711e-03 9.91676043e-01 7.37260065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82863999999998 meters Centerline goodness : 0.979236 with order 1 Centerline is valid? [True, True] Translation: X:105.50, Y:6.53, Z:7.39 [[ 9.86461591e-01 -1.01692429e-01 -1.28655271e-01 1.05503653e+02] [ 1.01879598e-01 9.94783444e-01 -5.14268997e-03 6.52945489e+00] [ 1.28507107e-01 -8.03428121e-03 9.91676043e-01 7.38691563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88863999999998 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:105.56, Y:6.57, Z:7.40 [[ 9.90899922e-01 -3.95699503e-02 -1.28652884e-01 1.05558677e+02] [ 3.92267053e-02 9.99216797e-01 -5.20174747e-03 6.56948356e+00] [ 1.28757955e-01 1.07782406e-04 9.91676045e-01 7.40412233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.62, Y:6.57, Z:7.39 [[ 9.90779843e-01 -4.24778651e-02 -1.28650433e-01 1.05619979e+02] [ 4.21512487e-02 9.99097386e-01 -5.26167242e-03 6.57487117e+00] [ 1.28757816e-01 -2.09617424e-04 9.91676046e-01 7.38814402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00863999999999 meters Centerline goodness : 0.990075 with order 1 Centerline is valid? [True, True] Translation: X:105.68, Y:6.55, Z:7.38 [[ 9.85786301e-01 -1.08051229e-01 -1.28647969e-01 1.05681219e+02] [ 1.08268860e-01 9.94107408e-01 -5.32124624e-03 6.55126694e+00] [ 1.28464866e-01 -8.68295735e-03 9.91676048e-01 7.38038933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.74, Y:6.58, Z:7.40 [[ 9.90293023e-01 -5.26314131e-02 -1.28645497e-01 1.05735860e+02] [ 5.23746526e-02 9.98613012e-01 -5.38037438e-03 6.58033970e+00] [ 1.28750244e-01 -1.40961598e-03 9.91676050e-01 7.40430010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12863999999998 meters Centerline goodness : 0.967877 with order 1 Centerline is valid? [True, True] Translation: X:105.79, Y:6.62, Z:7.41 [[ 9.91190370e-01 3.15058611e-02 -1.28643039e-01 1.05792779e+02] [-3.24744927e-02 9.99457768e-01 -5.43851305e-03 6.62134418e+00] [ 1.28401940e-01 9.56821919e-03 9.91676051e-01 7.40677497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:105.85, Y:6.57, Z:7.42 [[ 9.89594044e-01 -6.44578829e-02 -1.28642173e-01 1.05852730e+02] [ 6.42903277e-02 9.97916306e-01 -5.45891739e-03 6.57266150e+00] [ 1.28725992e-01 -2.86833533e-03 9.91676052e-01 7.41805524e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:105.91, Y:6.56, Z:7.42 [[ 9.89631348e-01 -6.38840120e-02 -1.28641470e-01 1.05911560e+02] [ 6.37094844e-02 9.97953466e-01 -5.47543706e-03 6.56411603e+00] [ 1.28727994e-01 -2.77701757e-03 9.91676052e-01 7.42476991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30863999999998 meters Centerline goodness : 0.998716 with order 1 Centerline is valid? [True, True] Translation: X:105.97, Y:6.56, Z:7.46 [[ 9.89866176e-01 -6.01410553e-02 -1.28639059e-01 1.05967963e+02] [ 5.99277714e-02 9.98187389e-01 -5.53151659e-03 6.56269396e+00] [ 1.28738557e-01 -2.23359093e-03 9.91676053e-01 7.45963098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.03, Y:6.55, Z:7.44 [[ 9.90052188e-01 -5.69970772e-02 -1.28639021e-01 1.06031215e+02] [ 5.67572537e-02 9.98372679e-01 -5.53239222e-03 6.55432744e+00] [ 1.28745014e-01 -1.82384053e-03 9.91676053e-01 7.43981593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.09, Y:6.55, Z:7.45 [[ 9.90141796e-01 -5.54193391e-02 -1.28638720e-01 1.06090088e+02] [ 5.51653475e-02 9.98461867e-01 -5.53939350e-03 6.54973749e+00] [ 1.28747846e-01 -1.61161464e-03 9.91676053e-01 7.44691889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48863999999998 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [True, True] Translation: X:106.15, Y:6.54, Z:7.48 [[ 9.90211522e-01 -5.41652125e-02 -1.28636195e-01 1.06146888e+02] [ 5.38931471e-02 9.98531020e-01 -5.59741064e-03 6.54199392e+00] [ 1.28750416e-01 -1.38998889e-03 9.91676055e-01 7.48014612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54863999999998 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:106.21, Y:6.54, Z:7.48 [[ 9.90510307e-01 -4.83951187e-02 -1.28636090e-01 1.06207755e+02] [ 4.80742719e-02 9.98828066e-01 -5.59983572e-03 6.53813331e+00] [ 1.28756341e-01 -6.37391356e-04 9.91676055e-01 7.48204030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:106.27, Y:6.54, Z:7.49 [[ 9.90670275e-01 -4.50023791e-02 -1.28635890e-01 1.06265898e+02] [ 4.46524500e-02 9.98986861e-01 -5.60442742e-03 6.53542598e+00] [ 1.28757776e-01 -1.91767980e-04 9.91676055e-01 7.48891697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66863999999998 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:106.32, Y:6.54, Z:7.50 [[ 9.90811653e-01 -4.17835479e-02 -1.28632824e-01 1.06323556e+02] [ 4.13975756e-02 9.99126642e-01 -5.67394537e-03 6.53923845e+00] [ 1.28757559e-01 2.96724153e-04 9.91676058e-01 7.49917054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72863999999998 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:106.38, Y:6.54, Z:7.51 [[ 9.91107281e-01 -3.40683947e-02 -1.28630095e-01 1.06381627e+02] [ 3.36097563e-02 9.99418577e-01 -5.73514600e-03 6.54435598e+00] [ 1.28750694e-01 1.36091882e-03 9.91676059e-01 7.50666332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.44, Y:6.56, Z:7.49 [[ 9.91206365e-01 -3.10635959e-02 -1.28627346e-01 1.06442183e+02] [ 3.05718465e-02 9.99515766e-01 -5.79616226e-03 6.55645040e+00] [ 1.28745110e-01 1.81281745e-03 9.91676061e-01 7.49221014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.50, Y:6.57, Z:7.50 [[ 9.91072304e-01 -3.50914304e-02 -1.28624568e-01 1.06499089e+02] [ 3.46255351e-02 9.99383193e-01 -5.85717719e-03 6.56596229e+00] [ 1.28750768e-01 1.35119162e-03 9.91676063e-01 7.49854611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.56, Y:6.58, Z:7.50 [[ 9.90808929e-01 -4.18831774e-02 -1.28621406e-01 1.06556472e+02] [ 4.14653443e-02 9.99122370e-01 -5.92581080e-03 6.57629207e+00] [ 1.28756716e-01 5.38015373e-04 9.91676065e-01 7.50478329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96863999999998 meters Centerline goodness : 0.998425 with order 1 Centerline is valid? [True, True] Translation: X:106.61, Y:6.58, Z:7.53 [[ 9.90677894e-01 -4.48851371e-02 -1.28618174e-01 1.06610729e+02] [ 4.44834942e-02 9.98992131e-01 -5.99514341e-03 6.58049476e+00] [ 1.28757637e-01 2.17870231e-04 9.91676068e-01 7.53281576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:106.67, Y:6.59, Z:7.52 [[ 9.90146206e-01 -5.53957520e-02 -1.28614935e-01 1.06670588e+02] [ 5.50734386e-02 9.98463893e-01 -6.06385199e-03 6.58847639e+00] [ 1.28753281e-01 -1.07916671e-03 9.91676070e-01 7.51766921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08863999999998 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:106.72, Y:6.59, Z:7.55 [[ 9.89816149e-01 -6.10167127e-02 -1.28611633e-01 1.06724901e+02] [ 6.07326323e-02 9.98135227e-01 -6.13311645e-03 6.59104265e+00] [ 1.28746024e-01 -1.74026529e-03 9.91676073e-01 7.54652409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:106.79, Y:6.59, Z:7.53 [[ 9.88989131e-01 -7.32145244e-02 -1.28608444e-01 1.06786239e+02] [ 7.30244247e-02 9.97310885e-01 -6.19928045e-03 6.59327639e+00] [ 1.28716478e-01 -3.26053663e-03 9.91676075e-01 7.53271675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20863999999999 meters Centerline goodness : 0.998178 with order 1 Centerline is valid? [True, True] Translation: X:106.84, Y:6.59, Z:7.56 [[ 9.88854762e-01 -7.50123279e-02 -1.28605642e-01 1.06841985e+02] [ 7.48298735e-02 9.97176685e-01 -6.25686218e-03 6.59220920e+00] [ 1.28711890e-01 -3.43641600e-03 9.91676076e-01 7.56082193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26863999999998 meters Centerline goodness : 0.997541 with order 1 Centerline is valid? [True, True] Translation: X:106.90, Y:6.59, Z:7.57 [[ 9.88487426e-01 -7.97113686e-02 -1.28602901e-01 1.06900869e+02] [ 7.95612109e-02 9.96809994e-01 -6.31270603e-03 6.59051910e+00] [ 1.28695852e-01 -3.99177202e-03 9.91676078e-01 7.56899644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32863999999998 meters Centerline goodness : 0.996949 with order 1 Centerline is valid? [True, True] Translation: X:106.96, Y:6.58, Z:7.58 [[ 9.88210017e-01 -8.30837357e-02 -1.28600367e-01 1.06959765e+02] [ 8.29553184e-02 9.96532948e-01 -6.36392732e-03 6.58357738e+00] [ 1.28683241e-01 -4.37918765e-03 9.91676079e-01 7.57612722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38863999999998 meters Centerline goodness : 0.922119 with order 3 Centerline is valid? [True, False] Translation: X:106.96, Y:6.58, Z:7.57 [[ 9.89780051e-01 -7.09377972e-02 -1.23706424e-01 1.06959096e+02] [ 7.01850076e-02 9.97479378e-01 -1.04381758e-02 6.57898417e+00] [ 1.24135068e-01 1.64916180e-03 9.92263959e-01 7.57408892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:106.96, Y:6.57, Z:7.57 [[ 9.91142672e-01 -5.93728665e-02 -1.18790012e-01 1.06957988e+02] [ 5.80223983e-02 9.98205601e-01 -1.47979860e-02 6.57164216e+00] [ 1.19455455e-01 7.77443395e-03 9.92809122e-01 7.57176467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.02, Y:6.56, Z:7.58 [[ 9.91321271e-01 -5.57555992e-02 -1.19052304e-01 1.07016349e+02] [ 5.58628257e-02 9.98435474e-01 -2.43893498e-03 6.55605561e+00] [ 1.19002028e-01 -4.23282996e-03 9.92884989e-01 7.57891300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56863999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:107.08, Y:6.55, Z:7.59 [[ 9.91804455e-01 -4.63759106e-02 -1.19051244e-01 1.07075103e+02] [ 4.64097576e-02 9.98919384e-01 -2.48961546e-03 6.55016429e+00] [ 1.19038054e-01 -3.05592766e-03 9.92884990e-01 7.58532871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62863999999998 meters Centerline goodness : 0.997198 with order 1 Centerline is valid? [True, True] Translation: X:107.13, Y:6.55, Z:7.62 [[ 9.92249911e-01 -3.55974095e-02 -1.19050150e-01 1.07131160e+02] [ 3.55478042e-02 9.99364747e-01 -2.54086700e-03 6.54998076e+00] [ 1.19064972e-01 -1.71079637e-03 9.92884991e-01 7.61884642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:107.19, Y:6.55, Z:7.60 [[ 9.92484474e-01 -2.83137641e-02 -1.19049988e-01 1.07193263e+02] [ 2.82110289e-02 9.99598741e-01 -2.54846552e-03 6.55027098e+00] [ 1.19074374e-01 -8.29210186e-04 9.92884991e-01 7.59798695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74863999999998 meters Centerline goodness : 0.996852 with order 1 Centerline is valid? [True, True] Translation: X:107.25, Y:6.55, Z:7.63 [[ 9.92583368e-01 -2.46056361e-02 -1.19049655e-01 1.07247984e+02] [ 2.44744721e-02 9.99697167e-01 -2.56389457e-03 6.55284450e+00] [ 1.19076690e-01 -3.68798360e-04 9.92884991e-01 7.63119452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80863999999998 meters Centerline goodness : 0.963061 with order 1 Centerline is valid? [True, True] Translation: X:107.31, Y:6.52, Z:7.61 [[ 9.87530210e-01 -1.03011472e-01 -1.19049235e-01 1.07311647e+02] [ 1.03440880e-01 9.94632249e-01 -2.58328485e-03 6.51977277e+00] [ 1.18676316e-01 -9.76348578e-03 9.92884992e-01 7.60971149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86863999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:107.37, Y:6.57, Z:7.62 [[ 9.92701663e-01 -1.92542687e-02 -1.19049067e-01 1.07370141e+02] [ 1.90815096e-02 9.99814574e-01 -2.59096618e-03 6.56723089e+00] [ 1.19076880e-01 3.00420519e-04 9.92884992e-01 7.62028527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92863999999999 meters Centerline goodness : 0.998229 with order 1 Centerline is valid? [True, True] Translation: X:107.43, Y:6.58, Z:7.65 [[ 9.92722906e-01 -1.81265519e-02 -1.19048982e-01 1.07426719e+02] [ 1.79452406e-02 9.99835604e-01 -2.59490284e-03 6.57630134e+00] [ 1.19076447e-01 4.39656862e-04 9.92884992e-01 7.64731095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:107.49, Y:6.59, Z:7.63 [[ 9.92750051e-01 -1.65746207e-02 -1.19048809e-01 1.07488042e+02] [ 1.63812459e-02 9.99862431e-01 -2.60278000e-03 6.58768406e+00] [ 1.19075572e-01 6.33742158e-04 9.92884992e-01 7.63282396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04863999999998 meters Centerline goodness : 0.998718 with order 1 Centerline is valid? [True, True] Translation: X:107.55, Y:6.59, Z:7.66 [[ 9.92625891e-01 -2.28311878e-02 -1.19048637e-01 1.07545092e+02] [ 2.26816985e-02 9.99739329e-01 -2.61065716e-03 6.59172451e+00] [ 1.19077209e-01 -1.08819398e-04 9.92884992e-01 7.65886127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10863999999998 meters Centerline goodness : 0.997690 with order 1 Centerline is valid? [True, True] Translation: X:107.60, Y:6.60, Z:7.67 [[ 9.92407010e-01 -3.09158617e-02 -1.19048460e-01 1.07603171e+02] [ 3.08233579e-02 9.99521417e-01 -2.61867669e-03 6.59535232e+00] [ 1.19072444e-01 -1.07068020e-03 9.92884992e-01 7.66843832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:107.66, Y:6.60, Z:7.65 [[ 9.92325642e-01 -3.34301819e-02 -1.19047232e-01 1.07664541e+02] [ 3.33491403e-02 9.99440187e-01 -2.67339414e-03 6.59729017e+00] [ 1.19069960e-01 -1.31724528e-03 9.92884993e-01 7.65415287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22863999999998 meters Centerline goodness : 0.997884 with order 1 Centerline is valid? [True, True] Translation: X:107.72, Y:6.60, Z:7.68 [[ 9.92219042e-01 -3.64593120e-02 -1.19046597e-01 1.07719697e+02] [ 3.63966329e-02 9.99333772e-01 -2.70137547e-03 6.59872939e+00] [ 1.19065775e-01 -1.65253910e-03 9.92884994e-01 7.68390393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:107.78, Y:6.60, Z:7.67 [[ 9.92251394e-01 -3.55693979e-02 -1.19046160e-01 1.07780552e+02] [ 3.54980459e-02 9.99366043e-01 -2.72048197e-03 6.60152422e+00] [ 1.19067456e-01 -1.52650403e-03 9.92884994e-01 7.66769758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34863999999997 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:107.84, Y:6.60, Z:7.70 [[ 9.91981363e-01 -4.24415650e-02 -1.19044899e-01 1.07836013e+02] [ 4.24130044e-02 9.99096311e-01 -2.77459250e-03 6.60283581e+00] [ 1.19055078e-01 -2.29670779e-03 9.92884995e-01 7.70120386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.90, Y:6.60, Z:7.69 [[ 9.91651793e-01 -4.95513569e-02 -1.19043624e-01 1.07897535e+02] [ 4.95673612e-02 9.98766778e-01 -2.82826116e-03 6.60095609e+00] [ 1.19036961e-01 -3.09602808e-03 9.92884997e-01 7.68525685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:107.96, Y:6.60, Z:7.69 [[ 9.91317379e-01 -5.58459762e-02 -1.19042350e-01 1.07955440e+02] [ 5.59008307e-02 9.98432170e-01 -2.88094332e-03 6.59947664e+00] [ 1.19016600e-01 -3.79863705e-03 9.92884998e-01 7.69171836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.01, Y:6.59, Z:7.70 [[ 9.90979883e-01 -6.15478628e-02 -1.19040886e-01 1.08013681e+02] [ 6.16365382e-02 9.98094330e-01 -2.94019540e-03 6.58919693e+00] [ 1.18994996e-01 -4.42359365e-03 9.92885000e-01 7.69953594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58863999999998 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:108.07, Y:6.59, Z:7.73 [[ 9.90888008e-01 -6.30121305e-02 -1.19039607e-01 1.08069908e+02] [ 6.31052091e-02 9.98002398e-01 -2.99112530e-03 6.58506838e+00] [ 1.18990290e-01 -4.54814908e-03 9.92885001e-01 7.72800335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64863999999999 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:108.13, Y:6.57, Z:7.73 [[ 9.90840433e-01 -6.37580881e-02 -1.19038405e-01 1.08128992e+02] [ 6.38508722e-02 9.97954826e-01 -3.03822791e-03 6.57441700e+00] [ 1.18988662e-01 -4.59030690e-03 9.92885002e-01 7.73086329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.19, Y:6.57, Z:7.72 [[ 9.90971826e-01 -6.16848476e-02 -1.19037048e-01 1.08189447e+02] [ 6.17564768e-02 9.98086462e-01 -3.09048936e-03 6.56960542e+00] [ 1.18999902e-01 -4.28872081e-03 9.92885003e-01 7.72130196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.25, Y:6.57, Z:7.73 [[ 9.91180831e-01 -5.82328496e-02 -1.19035692e-01 1.08248489e+02] [ 5.82735329e-02 9.98295710e-01 -3.14187436e-03 6.56596491e+00] [ 1.19015781e-01 -3.82246467e-03 9.92885005e-01 7.72800640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:108.31, Y:6.56, Z:7.73 [[ 9.91379887e-01 -5.47412374e-02 -1.19034936e-01 1.08307119e+02] [ 5.47534553e-02 9.98494872e-01 -3.17024892e-03 6.56004769e+00] [ 1.19029317e-01 -3.37465305e-03 9.92885005e-01 7.73481941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.36, Y:6.56, Z:7.74 [[ 9.91431845e-01 -5.37951072e-02 -1.19033535e-01 1.08364846e+02] [ 5.37943243e-02 9.98546839e-01 -3.22201625e-03 6.55532855e+00] [ 1.19033889e-01 -3.20891908e-03 9.92885006e-01 7.74184413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.42, Y:6.55, Z:7.75 [[ 9.91586091e-01 -5.08766396e-02 -1.19031892e-01 1.08423457e+02] [ 5.08477645e-02 9.98701024e-01 -3.28160859e-03 6.55325283e+00] [ 1.19044230e-01 -2.79850820e-03 9.92885008e-01 7.74892865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.48, Y:6.55, Z:7.75 [[ 9.91545309e-01 -5.16687570e-02 -1.19030413e-01 1.08482093e+02] [ 5.16392305e-02 9.98660238e-01 -3.33441208e-03 6.54960861e+00] [ 1.19043226e-01 -2.84041829e-03 9.92885010e-01 7.75495903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.54, Y:6.55, Z:7.76 [[ 9.91515831e-01 -5.22348347e-02 -1.19028899e-01 1.08539872e+02] [ 5.22029838e-02 9.98630749e-01 -3.38764104e-03 6.54584530e+00] [ 1.19042871e-01 -2.85476395e-03 9.92885011e-01 7.76129906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12863999999998 meters Centerline goodness : 0.997146 with order 1 Centerline is valid? [True, True] Translation: X:108.60, Y:6.54, Z:7.80 [[ 9.91780586e-01 -4.69447690e-02 -1.19027135e-01 1.08595945e+02] [ 4.68676581e-02 9.98895155e-01 -3.44853171e-03 6.54122178e+00] [ 1.19057519e-01 -2.15833626e-03 9.92885013e-01 7.79871035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18863999999998 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:108.66, Y:6.54, Z:7.80 [[ 9.91988445e-01 -4.23261671e-02 -1.19026972e-01 1.08656986e+02] [ 4.22152568e-02 9.99102568e-01 -3.45413541e-03 6.53953288e+00] [ 1.19066354e-01 -1.59829178e-03 9.92885013e-01 7.79786516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24863999999998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:108.72, Y:6.54, Z:7.80 [[ 9.92300263e-01 -3.42460768e-02 -1.19026861e-01 1.08716592e+02] [ 3.40767761e-02 9.99413236e-01 -3.45794660e-03 6.53771187e+00] [ 1.19075442e-01 -6.24730378e-04 9.92885013e-01 7.79929552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:108.77, Y:6.54, Z:7.81 [[ 9.92378506e-01 -3.18996503e-02 -1.19026519e-01 1.08774104e+02] [ 3.17121236e-02 9.99491022e-01 -3.46968271e-03 6.53729120e+00] [ 1.19076619e-01 -3.31345141e-04 9.92885013e-01 7.81093643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:108.83, Y:6.54, Z:7.81 [[ 9.92462725e-01 -2.91687592e-02 -1.19024880e-01 1.08833677e+02] [ 2.89550231e-02 9.99574500e-01 -3.52503354e-03 6.54089783e+00] [ 1.19077056e-01 5.20962331e-05 9.92885015e-01 7.80915855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:108.89, Y:6.55, Z:7.82 [[ 9.92636725e-01 -2.24903638e-02 -1.19023169e-01 1.08890398e+02] [ 2.22219646e-02 9.99746645e-01 -3.58188713e-03 6.54709583e+00] [ 1.19073572e-01 9.10584048e-04 9.92885016e-01 7.82017848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48863999999998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:108.95, Y:6.55, Z:7.84 [[ 9.92586731e-01 -2.46078613e-02 -1.19021151e-01 1.08948247e+02] [ 2.43467318e-02 9.99696919e-01 -3.64775624e-03 6.55268537e+00] [ 1.19074841e-01 7.22938402e-04 9.92885018e-01 7.83845717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.01, Y:6.56, Z:7.82 [[ 9.92643059e-01 -2.22206630e-02 -1.19021005e-01 1.09010953e+02] [ 2.19418647e-02 9.99752576e-01 -3.65251008e-03 6.56031717e+00] [ 1.19072718e-01 1.01409599e-03 9.92885018e-01 7.82209980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.07, Y:6.56, Z:7.83 [[ 9.92663646e-01 -2.12811062e-02 -1.19021005e-01 1.09069139e+02] [ 2.09955787e-02 9.99772897e-01 -3.65251008e-03 6.56480165e+00] [ 1.19071704e-01 1.12679910e-03 9.92885018e-01 7.82829488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66863999999998 meters Centerline goodness : 0.919972 with order 3 Centerline is valid? [True, False] Translation: X:109.05, Y:6.59, Z:7.83 [[ 9.93721828e-01 -2.25956679e-02 -1.09573556e-01 1.09045398e+02] [ 1.94667489e-02 9.99373971e-01 -2.95416992e-02 6.58645982e+00] [ 1.10172474e-01 2.72231904e-02 9.93539593e-01 7.83025410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [False, True] Translation: X:109.02, Y:6.59, Z:7.83 [[ 9.95614298e-01 -2.18910919e-02 -9.09557518e-02 1.09020392e+02] [ 1.84097686e-02 9.99071977e-01 -3.89392377e-02 6.59056056e+00] [ 9.17237652e-02 3.70939874e-02 9.95093356e-01 7.82947690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.08, Y:6.56, Z:7.82 [[ 9.95509391e-01 -2.20774010e-02 -9.20523781e-02 1.09082031e+02] [ 2.19287873e-02 9.99756087e-01 -2.62570444e-03 6.55908066e+00] [ 9.20878941e-02 5.95316408e-04 9.95750704e-01 7.81897379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:109.14, Y:6.56, Z:7.85 [[ 9.95590508e-01 -1.80536201e-02 -9.20522020e-02 1.09137586e+02] [ 1.78872739e-02 9.99836546e-01 -2.63186578e-03 6.56359108e+00] [ 9.20846704e-02 9.73697641e-04 9.95750704e-01 7.84537289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:109.20, Y:6.57, Z:7.85 [[ 9.95660569e-01 -1.36633489e-02 -9.20507701e-02 1.09196761e+02] [ 1.34737368e-02 9.99905631e-01 -2.68103241e-03 6.56936630e+00] [ 9.20787152e-02 1.42913041e-03 9.95750706e-01 7.84808944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.26, Y:6.57, Z:7.84 [[ 9.95662059e-01 -1.35562034e-02 -9.20504955e-02 1.09256597e+02] [ 1.33652661e-02 9.99907061e-01 -2.69042664e-03 6.57399626e+00] [ 9.20784124e-02 1.44847636e-03 9.95750706e-01 7.83993662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:109.31, Y:6.58, Z:7.86 [[ 9.95667673e-01 -1.31464979e-02 -9.20492007e-02 1.09314469e+02] [ 1.29497843e-02 9.99912410e-01 -2.73402476e-03 6.58004735e+00] [ 9.20770809e-02 1.53016277e-03 9.95750707e-01 7.86108454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.37, Y:6.59, Z:7.85 [[ 9.95654689e-01 -1.40967757e-02 -9.20490149e-02 1.09374971e+02] [ 1.39035366e-02 9.99899586e-01 -2.74026533e-03 6.58553826e+00] [ 9.20784008e-02 1.44855117e-03 9.95750707e-01 7.84648880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14863999999999 meters Centerline goodness : 0.998177 with order 1 Centerline is valid? [True, True] Translation: X:109.43, Y:6.59, Z:7.88 [[ 9.95675771e-01 -1.25290983e-02 -9.20477129e-02 1.09432072e+02] [ 1.23251962e-02 9.99920168e-01 -2.78332693e-03 6.58999868e+00] [ 9.20752371e-02 1.63678507e-03 9.95750708e-01 7.88472410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.50, Y:6.60, Z:7.86 [[ 9.95683397e-01 -1.19079275e-02 -9.20476709e-02 1.09495008e+02] [ 1.17012492e-02 9.99927660e-01 -2.78471456e-03 6.59669127e+00] [ 9.20741724e-02 1.69562131e-03 9.95750708e-01 7.85661505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.55, Y:6.60, Z:7.86 [[ 9.95655082e-01 -1.40779922e-02 -9.20476367e-02 1.09553616e+02] [ 1.38804603e-02 9.99899781e-01 -2.78584476e-03 6.60462302e+00] [ 9.20776309e-02 1.49607693e-03 9.95750708e-01 7.86213578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:109.61, Y:6.61, Z:7.89 [[ 9.95638913e-01 -1.51866228e-02 -9.20463007e-02 1.09609203e+02] [ 1.49898000e-02 9.99883644e-01 -2.82931114e-03 6.60858377e+00] [ 9.20785582e-02 1.43721664e-03 9.95750709e-01 7.88984241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:109.67, Y:6.61, Z:7.89 [[ 9.95639405e-01 -1.51637394e-02 -9.20447513e-02 1.09667589e+02] [ 1.49622402e-02 9.99883915e-01 -2.87885198e-03 6.61326135e+00] [ 9.20777205e-02 1.48910279e-03 9.95750710e-01 7.89303537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:109.73, Y:6.62, Z:7.90 [[ 9.95645674e-01 -1.47550357e-02 -9.20433636e-02 1.09725874e+02] [ 1.45477547e-02 9.99889905e-01 -2.92255982e-03 6.61695330e+00] [ 9.20763526e-02 1.57080977e-03 9.95750711e-01 7.89781252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:109.78, Y:6.62, Z:7.90 [[ 9.95637335e-01 -1.53157837e-02 -9.20419667e-02 1.09784165e+02] [ 1.51068864e-02 9.99881486e-01 -2.96591291e-03 6.62164109e+00] [ 9.20764837e-02 1.56250609e-03 9.95750712e-01 7.90421211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:109.84, Y:6.63, Z:7.91 [[ 9.95631674e-01 -1.56879012e-02 -9.20405333e-02 1.09842746e+02] [ 1.54765386e-02 9.99875701e-01 -3.00975122e-03 6.62668166e+00] [ 9.20763095e-02 1.57213478e-03 9.95750713e-01 7.90728965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:109.90, Y:6.64, Z:7.92 [[ 9.95646533e-01 -1.47236940e-02 -9.20390853e-02 1.09901758e+02] [ 1.45041878e-02 9.99890147e-01 -3.05340118e-03 6.63696529e+00] [ 9.20739318e-02 1.70515612e-03 9.95750714e-01 7.91951802e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:109.96, Y:6.64, Z:7.92 [[ 9.95643431e-01 -1.49336421e-02 -9.20388250e-02 1.09960859e+02] [ 1.47143076e-02 9.99887053e-01 -3.06122566e-03 6.64286598e+00] [ 9.20741448e-02 1.69360163e-03 9.95750714e-01 7.92390650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:110.02, Y:6.65, Z:7.93 [[ 9.95601048e-01 -1.75341090e-02 -9.20386201e-02 1.10019362e+02] [ 1.73252907e-02 9.99845201e-01 -3.06737643e-03 6.65206404e+00] [ 9.20781563e-02 1.45928734e-03 9.95750714e-01 7.92787817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80863999999998 meters Centerline goodness : 0.983683 with order 1 Centerline is valid? [True, True] Translation: X:110.08, Y:6.66, Z:7.89 [[ 9.94706304e-01 4.57005415e-02 -9.20371031e-02 1.10081770e+02] [-4.61824758e-02 9.98928172e-01 -3.11223889e-03 6.65841153e+00] [ 9.17962242e-02 7.34626493e-03 9.95750715e-01 7.89457710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86863999999998 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:110.14, Y:6.66, Z:7.94 [[ 9.95399473e-01 -2.66288368e-02 -9.20369225e-02 1.10137678e+02] [ 2.64541594e-02 9.99645166e-01 -3.11757122e-03 6.66187042e+00] [ 9.20872820e-02 6.68469327e-04 9.95750715e-01 7.94055234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92863999999999 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:110.20, Y:6.66, Z:7.93 [[ 9.95269032e-01 -3.11252190e-02 -9.20368086e-02 1.10197752e+02] [ 3.09694125e-02 9.99515460e-01 -3.12092958e-03 6.66355867e+00] [ 9.20893528e-02 2.55838667e-04 9.95750715e-01 7.92585401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98863999999998 meters Centerline goodness : 0.997837 with order 1 Centerline is valid? [True, True] Translation: X:110.26, Y:6.67, Z:7.96 [[ 9.95089554e-01 -3.64180979e-02 -9.20353292e-02 1.10255471e+02] [ 3.62808976e-02 9.99336623e-01 -3.16396729e-03 6.66504776e+00] [ 9.20895007e-02 -1.90693549e-04 9.95750716e-01 7.95570015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04863999999998 meters Centerline goodness : 0.997339 with order 1 Centerline is valid? [True, True] Translation: X:110.31, Y:6.66, Z:7.96 [[ 9.94864248e-01 -4.21265443e-02 -9.20352255e-02 1.10313946e+02] [ 4.20134338e-02 9.99112027e-01 -3.16698127e-03 6.66467152e+00] [ 9.20869146e-02 -7.15999418e-04 9.95750716e-01 7.96418344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10863999999998 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:110.37, Y:6.66, Z:7.96 [[ 9.94508710e-01 -4.98218747e-02 -9.20337264e-02 1.10373029e+02] [ 4.97376529e-02 9.98757159e-01 -3.20996407e-03 6.66457949e+00] [ 9.20792695e-02 -1.38520431e-03 9.95750716e-01 7.96440098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16863999999998 meters Centerline goodness : 0.998032 with order 1 Centerline is valid? [True, True] Translation: X:110.43, Y:6.67, Z:7.97 [[ 9.94826214e-01 -4.30216392e-02 -9.20322941e-02 1.10431648e+02] [ 4.29046229e-02 9.99073885e-01 -3.25051821e-03 6.66710296e+00] [ 9.20869042e-02 -7.14910149e-04 9.95750717e-01 7.97117135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22863999999998 meters Centerline goodness : 0.926523 with order 3 Centerline is valid? [True, False] Translation: X:110.43, Y:6.68, Z:7.97 [[ 9.95267959e-01 -4.17013453e-02 -8.77649532e-02 1.10425655e+02] [ 3.99174059e-02 9.98961092e-01 -2.19849296e-02 6.68001831e+00] [ 8.85905746e-02 1.83775467e-02 9.95898577e-01 7.97454135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28863999999999 meters Centerline goodness : 0.998225 with order 1 Centerline is valid? [False, True] Translation: X:110.42, Y:6.69, Z:7.98 [[ 9.95842778e-01 -3.75432486e-02 -8.29919656e-02 1.10422168e+02] [ 3.45345992e-02 9.98703619e-01 -3.73957536e-02 6.68774995e+00] [ 8.42883345e-02 3.43741969e-02 9.95848327e-01 7.97598588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34863999999997 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:110.48, Y:6.65, Z:7.98 [[ 9.95693532e-01 -3.91126318e-02 -8.40511243e-02 1.10481465e+02] [ 3.90473046e-02 9.99234429e-01 -2.42161617e-03 6.65159518e+00] [ 8.40814929e-02 -8.70782299e-04 9.96458501e-01 7.97731383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40863999999998 meters Centerline goodness : 0.998177 with order 1 Centerline is valid? [True, True] Translation: X:110.54, Y:6.65, Z:7.98 [[ 9.95787599e-01 -3.66426251e-02 -8.40498358e-02 1.10538862e+02] [ 3.65648071e-02 9.99328242e-01 -2.46554417e-03 6.64827735e+00] [ 8.40837187e-02 -6.18107723e-04 9.96458502e-01 7.98289172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46863999999998 meters Centerline goodness : 0.997682 with order 1 Centerline is valid? [True, True] Translation: X:110.60, Y:6.64, Z:7.99 [[ 9.95941731e-01 -3.21855744e-02 -8.40485354e-02 1.10597115e+02] [ 3.20882347e-02 9.99481891e-01 -2.50910691e-03 6.64405681e+00] [ 8.40857461e-02 -1.98044844e-04 9.96458503e-01 7.98861788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52863999999998 meters Centerline goodness : 0.997730 with order 1 Centerline is valid? [True, True] Translation: X:110.65, Y:6.64, Z:7.99 [[ 9.96048024e-01 -2.87124254e-02 -8.40471897e-02 1.10654678e+02] [ 2.85990035e-02 9.99587704e-01 -2.55340427e-03 6.64497823e+00] [ 8.40858517e-02 1.39647401e-04 9.96458504e-01 7.99458133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58863999999998 meters Centerline goodness : 0.995863 with order 1 Centerline is valid? [True, True] Translation: X:110.71, Y:6.65, Z:8.02 [[ 9.96276964e-01 -1.91966986e-02 -8.40458029e-02 1.10711924e+02] [ 1.90456864e-02 9.99815238e-01 -2.59826335e-03 6.64779120e+00] [ 8.40801526e-02 9.87879915e-04 9.96458505e-01 8.01754266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64863999999999 meters Centerline goodness : 0.996998 with order 1 Centerline is valid? [True, True] Translation: X:110.77, Y:6.66, Z:8.00 [[ 9.96309103e-01 -1.74508283e-02 -8.40454574e-02 1.10771795e+02] [ 1.72926773e-02 9.99847065e-01 -2.60939376e-03 6.65539792e+00] [ 8.40781400e-02 1.14639178e-03 9.96458505e-01 8.00348451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70863999999997 meters Centerline goodness : 0.993840 with order 1 Centerline is valid? [True, True] Translation: X:110.83, Y:6.66, Z:8.03 [[ 9.96391240e-01 -1.18771978e-02 -8.40442074e-02 1.10828948e+02] [ 1.16959139e-02 9.99928091e-01 -2.64905317e-03 6.66396070e+00] [ 8.40696272e-02 1.65651956e-03 9.96458506e-01 8.02919811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76863999999998 meters Centerline goodness : 0.993900 with order 1 Centerline is valid? [True, True] Translation: X:110.89, Y:6.67, Z:8.03 [[ 9.96375513e-01 -1.31378622e-02 -8.40430502e-02 1.10887895e+02] [ 1.29579994e-02 9.99912436e-01 -2.68527337e-03 6.67321734e+00] [ 8.40709698e-02 1.58651084e-03 9.96458506e-01 8.03208258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82863999999998 meters Centerline goodness : 0.993354 with order 1 Centerline is valid? [True, True] Translation: X:110.95, Y:6.68, Z:8.04 [[ 9.96357056e-01 -1.44716776e-02 -8.40427764e-02 1.10945909e+02] [ 1.42958294e-02 9.99894181e-01 -2.69381536e-03 6.68100723e+00] [ 8.40728670e-02 1.48254075e-03 9.96458506e-01 8.03651334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88863999999998 meters Centerline goodness : 0.995171 with order 1 Centerline is valid? [True, True] Translation: X:111.00, Y:6.69, Z:8.04 [[ 9.96309189e-01 -1.74651212e-02 -8.40414787e-02 1.11004294e+02] [ 1.72965362e-02 9.99846667e-01 -2.73371208e-03 6.68514774e+00] [ 8.40763369e-02 1.26999599e-03 9.96458507e-01 8.03845436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94863999999998 meters Centerline goodness : 0.993928 with order 1 Centerline is valid? [True, True] Translation: X:111.06, Y:6.68, Z:8.04 [[ 9.96184639e-01 -2.35248023e-02 -8.40401562e-02 1.11061967e+02] [ 2.33743570e-02 9.99722934e-01 -2.77378085e-03 6.68458914e+00] [ 8.40821243e-02 7.98813260e-04 9.96458508e-01 8.04282529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00863999999999 meters Centerline goodness : 0.995223 with order 1 Centerline is valid? [True, True] Translation: X:111.12, Y:6.69, Z:8.05 [[ 9.96122789e-01 -2.60173414e-02 -8.40386012e-02 1.11119240e+02] [ 2.58718404e-02 9.99661290e-01 -2.82012300e-03 6.68588748e+00] [ 8.40835086e-02 6.34955514e-04 9.96458509e-01 8.04707388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06863999999999 meters Centerline goodness : 0.994879 with order 1 Centerline is valid? [True, True] Translation: X:111.18, Y:6.68, Z:8.05 [[ 9.96115259e-01 -2.63090595e-02 -8.40370373e-02 1.11177580e+02] [ 2.61607260e-02 9.99653641e-01 -2.86598300e-03 6.68372079e+00] [ 8.40833317e-02 6.56379494e-04 9.96458510e-01 8.05134355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12863999999998 meters Centerline goodness : 0.995372 with order 1 Centerline is valid? [True, True] Translation: X:111.24, Y:6.68, Z:8.06 [[ 9.96109124e-01 -2.65453219e-02 -8.40354642e-02 1.11236582e+02] [ 2.63939971e-02 9.99647378e-01 -2.91139208e-03 6.68272117e+00] [ 8.40831153e-02 6.82032415e-04 9.96458511e-01 8.05717870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18863999999998 meters Centerline goodness : 0.994836 with order 1 Centerline is valid? [True, True] Translation: X:111.29, Y:6.68, Z:8.06 [[ 9.96078013e-01 -2.76923896e-02 -8.40340638e-02 1.11294001e+02] [ 2.75417754e-02 9.99616297e-01 -2.95126826e-03 6.67823257e+00] [ 8.40835473e-02 6.25246120e-04 9.96458512e-01 8.06210709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24863999999998 meters Centerline goodness : 0.994783 with order 1 Centerline is valid? [True, True] Translation: X:111.35, Y:6.68, Z:8.07 [[ 9.96096277e-01 -2.70325132e-02 -8.40324326e-02 1.11352865e+02] [ 2.68756966e-02 9.99634291e-01 -2.99700699e-03 6.67797319e+00] [ 8.40827178e-02 7.26877340e-04 9.96458513e-01 8.06696839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30863999999998 meters Centerline goodness : 0.994688 with order 1 Centerline is valid? [True, True] Translation: X:111.41, Y:6.68, Z:8.07 [[ 9.96181490e-01 -2.36902673e-02 -8.40310035e-02 1.11410893e+02] [ 2.35182451e-02 9.99718796e-01 -3.03655869e-03 6.68218299e+00] [ 8.40793105e-02 1.04870182e-03 9.96458514e-01 8.07227443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36863999999998 meters Centerline goodness : 0.994836 with order 1 Centerline is valid? [True, True] Translation: X:111.47, Y:6.69, Z:8.08 [[ 9.96271259e-01 -1.95612982e-02 -8.40293662e-02 1.11468820e+02] [ 1.93708515e-02 9.99807620e-01 -3.08121270e-03 6.68897568e+00] [ 8.40734731e-02 1.44200327e-03 9.96458515e-01 8.07658756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42863999999999 meters Centerline goodness : 0.994346 with order 1 Centerline is valid? [True, True] Translation: X:111.53, Y:6.69, Z:8.08 [[ 9.96281620e-01 -1.90285574e-02 -8.40288529e-02 1.11526466e+02] [ 1.88350449e-02 9.99817814e-01 -3.09514659e-03 6.69344708e+00] [ 8.40724402e-02 1.50095044e-03 9.96458515e-01 8.08242605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48863999999998 meters Centerline goodness : 0.933091 with order 3 Centerline is valid? [True, False] Translation: X:111.53, Y:6.73, Z:8.09 [[ 9.95565671e-01 -1.83662173e-02 -9.22587476e-02 1.11529175e+02] [ 1.43763486e-02 9.98940095e-01 -4.37264960e-02 6.73018460e+00] [ 9.29640524e-02 4.22062544e-02 9.94774506e-01 8.09012678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54863999999998 meters Centerline goodness : 0.993056 with order 1 Centerline is valid? [False, True] Translation: X:111.52, Y:6.74, Z:8.09 [[ 9.96300387e-01 -1.58012868e-02 -8.44740055e-02 1.11521688e+02] [ 1.06958674e-02 9.98107722e-01 -6.05522323e-02 6.74443620e+00] [ 8.52709604e-02 5.94246897e-02 9.94584119e-01 8.09374003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60863999999998 meters Centerline goodness : 0.997146 with order 1 Centerline is valid? [True, True] Translation: X:111.58, Y:6.70, Z:8.06 [[ 9.96223097e-01 -1.01337248e-02 -8.62371693e-02 1.11584884e+02] [ 9.96404604e-03 9.99947483e-01 -2.39780335e-03 6.69778445e+00] [ 8.62569390e-02 1.52947596e-03 9.96271751e-01 8.06159638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66863999999998 meters Centerline goodness : 0.997084 with order 1 Centerline is valid? [True, True] Translation: X:111.64, Y:6.70, Z:8.07 [[ 9.96202302e-01 -1.20131606e-02 -8.62360529e-02 1.11643163e+02] [ 1.18470899e-02 9.99926850e-01 -2.43730512e-03 6.70286934e+00] [ 8.62590245e-02 1.40640270e-03 9.96271751e-01 8.06613426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72863999999998 meters Centerline goodness : 0.994645 with order 1 Centerline is valid? [True, True] Translation: X:111.70, Y:6.71, Z:8.09 [[ 9.96178725e-01 -1.38379067e-02 -8.62349160e-02 1.11701386e+02] [ 1.36752328e-02 9.99903422e-01 -2.47688865e-03 6.70798523e+00] [ 8.62608626e-02 1.28814123e-03 9.96271752e-01 8.09300530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78863999999999 meters Centerline goodness : 0.997250 with order 1 Centerline is valid? [True, True] Translation: X:111.76, Y:6.71, Z:8.10 [[ 9.96152467e-01 -1.56144492e-02 -8.62348651e-02 1.11760298e+02] [ 1.54582648e-02 9.99877442e-01 -2.47866078e-03 6.71292992e+00] [ 8.62629992e-02 1.13608268e-03 9.96271752e-01 8.09712310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84863999999997 meters Centerline goodness : 0.997102 with order 1 Centerline is valid? [True, True] Translation: X:111.82, Y:6.72, Z:8.10 [[ 9.96120380e-01 -1.75480877e-02 -8.62337087e-02 1.11818354e+02] [ 1.73957066e-02 9.99845512e-01 -2.51826010e-03 6.72104234e+00] [ 8.62645773e-02 1.00839391e-03 9.96271753e-01 8.10362577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90863999999998 meters Centerline goodness : 0.996363 with order 1 Centerline is valid? [True, True] Translation: X:111.88, Y:6.73, Z:8.11 [[ 9.96018752e-01 -2.25964405e-02 -8.62325196e-02 1.11876234e+02] [ 2.24594711e-02 9.99744481e-01 -2.55834267e-03 6.72963589e+00] [ 8.62682950e-02 6.11420488e-04 9.96271754e-01 8.11184319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96863999999998 meters Centerline goodness : 0.998038 with order 1 Centerline is valid? [True, True] Translation: X:111.94, Y:6.74, Z:8.09 [[ 9.95855181e-01 -2.89243575e-02 -8.62313186e-02 1.11937398e+02] [ 2.88076110e-02 9.99581598e-01 -2.59820655e-03 6.73661991e+00] [ 8.62703907e-02 1.03319170e-04 9.96271755e-01 8.08860174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02863999999998 meters Centerline goodness : 0.995631 with order 1 Centerline is valid? [True, True] Translation: X:112.00, Y:6.74, Z:8.12 [[ 9.95501447e-01 -3.92584225e-02 -8.62301929e-02 1.11995037e+02] [ 3.91771668e-02 9.99228806e-01 -2.63504423e-03 6.74156908e+00] [ 8.62671404e-02 -7.55064306e-04 9.96271755e-01 8.11592289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08863999999998 meters Centerline goodness : 0.995136 with order 1 Centerline is valid? [True, True] Translation: X:112.05, Y:6.74, Z:8.13 [[ 9.95215523e-01 -4.59395798e-02 -8.62300227e-02 1.12053060e+02] [ 4.58828632e-02 9.98943337e-01 -2.64060487e-03 6.74182172e+00] [ 8.62602148e-02 -1.32850937e-03 9.96271755e-01 8.12542731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14863999999999 meters Centerline goodness : 0.958894 with order 3 Centerline is valid? [True, True] Translation: X:112.00, Y:6.68, Z:8.09 [[ 9.83372951e-01 -1.59819353e-01 -8.62288408e-02 1.11997030e+02] [ 1.60187431e-01 9.87082981e-01 -2.67865078e-03 6.67716094e+00] [ 8.55431215e-02 -1.11786638e-02 9.96271756e-01 8.08850341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20863999999997 meters Centerline goodness : 0.997547 with order 1 Centerline is valid? [True, True] Translation: X:112.14, Y:6.77, Z:8.11 [[ 9.94983691e-01 -5.32468041e-02 -8.46890332e-02 1.12144890e+02] [ 5.07021631e-02 9.98203569e-01 -3.19205973e-02 6.76857717e+00] [ 8.62365650e-02 2.74665565e-02 9.95896000e-01 8.11327836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26863999999998 meters Centerline goodness : 0.929745 with order 3 Centerline is valid? [True, False] Translation: X:112.14, Y:6.77, Z:8.11 [[ 9.96248064e-01 -3.77810458e-02 -7.78613412e-02 1.12144021e+02] [ 3.52483650e-02 9.98811906e-01 -3.36501141e-02 6.76950152e+00] [ 7.90401710e-02 3.07793760e-02 9.96396147e-01 8.11116455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32863999999998 meters Centerline goodness : 0.995828 with order 1 Centerline is valid? [False, True] Translation: X:112.14, Y:6.77, Z:8.11 [[ 9.97198665e-01 -2.75631366e-02 -6.95348479e-02 1.12143541e+02] [ 2.49041594e-02 9.98935792e-01 -3.88209554e-02 6.76931813e+00] [ 7.05308756e-02 3.69804979e-02 9.96823875e-01 8.10967410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38863999999998 meters Centerline goodness : 0.995868 with order 1 Centerline is valid? [True, True] Translation: X:112.20, Y:6.73, Z:8.11 [[ 9.97285197e-01 -2.28980758e-02 -6.99851012e-02 1.12202900e+02] [ 2.29028701e-02 9.99737425e-01 -7.34014350e-04 6.73157020e+00] [ 6.99835324e-02 -8.70838037e-04 9.97547767e-01 8.10708304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44863999999998 meters Centerline goodness : 0.995376 with order 1 Centerline is valid? [True, True] Translation: X:112.26, Y:6.73, Z:8.11 [[ 9.97374880e-01 -1.85871387e-02 -6.99847630e-02 1.12261014e+02] [ 1.85791617e-02 9.99827100e-01 -7.64964619e-04 6.73173181e+00] [ 6.99868811e-02 -5.37301730e-04 9.97547767e-01 8.11335654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50863999999999 meters Centerline goodness : 0.997053 with order 1 Centerline is valid? [True, True] Translation: X:112.32, Y:6.73, Z:8.10 [[ 9.97484085e-01 -1.12996833e-02 -6.99844072e-02 1.12321185e+02] [ 1.12715958e-02 9.99936157e-01 -7.96241413e-04 6.73210778e+00] [ 6.99889364e-02 5.40218808e-06 9.97547768e-01 8.09630498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56863999999999 meters Centerline goodness : 0.968157 with order 1 Centerline is valid? [True, True] Translation: X:112.38, Y:6.78, Z:8.10 [[ 9.94457094e-01 7.84683666e-02 -6.99843043e-02 1.12380725e+02] [-7.87175248e-02 9.96896636e-01 -8.05184003e-04 6.77570206e+00] [ 6.97039360e-02 6.30971215e-03 9.97547768e-01 8.09970925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62863999999998 meters Centerline goodness : 0.995679 with order 1 Centerline is valid? [True, True] Translation: X:112.44, Y:6.74, Z:8.12 [[ 9.97543011e-01 -3.18398986e-03 -6.99843043e-02 1.12438389e+02] [ 3.13532640e-03 9.99994761e-01 -8.05184003e-04 6.74245073e+00] [ 6.99865013e-02 5.83782038e-04 9.97547768e-01 8.12353543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68863999999998 meters Centerline goodness : 0.987329 with order 1 Centerline is valid? [True, True] Translation: X:112.50, Y:6.76, Z:8.09 [[ 9.95260378e-01 6.75205999e-02 -6.99839127e-02 1.12500162e+02] [-6.77451837e-02 9.97702304e-01 -8.37892939e-04 6.75848218e+00] [ 6.97665359e-02 5.57499467e-03 9.97547768e-01 8.08966430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74863999999998 meters Centerline goodness : 0.995826 with order 1 Centerline is valid? [True, True] Translation: X:112.56, Y:6.76, Z:8.13 [[ 9.97530865e-01 -5.86774884e-03 -6.99838738e-02 1.12557458e+02] [ 5.82316010e-03 9.99982692e-01 -8.41127256e-04 6.76097914e+00] [ 6.99875980e-02 4.31523097e-04 9.97547768e-01 8.12946362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80863999999998 meters Centerline goodness : 0.997149 with order 1 Centerline is valid? [True, True] Translation: X:112.62, Y:6.76, Z:8.12 [[ 9.97489513e-01 -1.08135489e-02 -6.99838469e-02 1.12618754e+02] [ 1.07809606e-02 9.99941528e-01 -8.43359741e-04 6.76475285e+00] [ 6.99888745e-02 8.67494036e-05 9.97547768e-01 8.11772103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86863999999998 meters Centerline goodness : 0.997379 with order 1 Centerline is valid? [True, True] Translation: X:112.68, Y:6.77, Z:8.12 [[ 9.97367787e-01 -1.89674085e-02 -6.99838192e-02 1.12677749e+02] [ 1.89547048e-02 9.99819986e-01 -8.45653809e-04 6.76996794e+00] [ 6.99872610e-02 -4.83094766e-04 9.97547768e-01 8.12206661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92863999999999 meters Centerline goodness : 0.995825 with order 1 Centerline is valid? [True, True] Translation: X:112.74, Y:6.77, Z:8.15 [[ 9.97265015e-01 -2.37656500e-02 -6.99834525e-02 1.12735353e+02] [ 2.37626861e-02 9.99717245e-01 -8.74987692e-04 6.77240277e+00] [ 6.99844589e-02 -7.90400200e-04 9.97547769e-01 8.14625927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98863999999998 meters Centerline goodness : 0.996215 with order 1 Centerline is valid? [True, True] Translation: X:112.79, Y:6.77, Z:8.15 [[ 9.97121697e-01 -2.91658956e-02 -6.99833682e-02 1.12794580e+02] [ 2.91757424e-02 9.99573909e-01 -8.81673739e-04 6.77134344e+00] [ 6.99792637e-02 -1.16268071e-03 9.97547769e-01 8.14963846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04863999999998 meters Centerline goodness : 0.997346 with order 1 Centerline is valid? [True, True] Translation: X:112.85, Y:6.77, Z:8.13 [[ 9.96980458e-01 -3.36500418e-02 -6.99831505e-02 1.12854506e+02] [ 3.36697271e-02 9.99432610e-01 -8.98633182e-04 6.77310020e+00] [ 6.99736818e-02 -1.46039386e-03 9.97547769e-01 8.13475152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10863999999998 meters Centerline goodness : 0.997695 with order 1 Centerline is valid? [True, True] Translation: X:112.91, Y:6.77, Z:8.14 [[ 9.96855576e-01 -3.71668569e-02 -6.99827450e-02 1.12911982e+02] [ 3.71930493e-02 9.99307667e-01 -9.29178402e-04 6.77190401e+00] [ 6.99688283e-02 -1.67661501e-03 9.97547769e-01 8.13869959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16863999999998 meters Centerline goodness : 0.997892 with order 1 Centerline is valid? [True, True] Translation: X:112.97, Y:6.77, Z:8.16 [[ 9.96731957e-01 -4.03471053e-02 -6.99822683e-02 1.12969377e+02] [ 4.03786925e-02 9.99183983e-01 -9.63789216e-04 6.77045964e+00] [ 6.99640477e-02 -1.86515299e-03 9.97547770e-01 8.16476222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22863999999998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:113.03, Y:6.77, Z:8.17 [[ 9.96465697e-01 -4.64608381e-02 -6.99821795e-02 1.13028550e+02] [ 4.65070174e-02 9.98917492e-01 -9.70195288e-04 6.76525439e+00] [ 6.99514994e-02 -2.28789612e-03 9.97547770e-01 8.16613803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.09, Y:6.76, Z:8.15 [[ 9.96456018e-01 -4.66685952e-02 -6.99817561e-02 1.13090218e+02] [ 4.67132062e-02 9.98907842e-01 -9.99836177e-04 6.75921448e+00] [ 6.99519859e-02 -2.27277943e-03 9.97547770e-01 8.14991381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34863999999997 meters Centerline goodness : 0.997888 with order 1 Centerline is valid? [True, True] Translation: X:113.15, Y:6.74, Z:8.17 [[ 9.94708910e-01 -7.52113179e-02 -6.99817260e-02 1.13149010e+02] [ 7.53260409e-02 9.97158455e-01 -1.00193940e-03 6.73778650e+00] [ 6.98582269e-02 -4.27480831e-03 9.97547770e-01 8.17145674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40863999999998 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:113.21, Y:6.76, Z:8.19 [[ 9.96824367e-01 -3.79966310e-02 -6.99816958e-02 1.13208554e+02] [ 3.80196116e-02 9.99276489e-01 -1.00404501e-03 6.75548626e+00] [ 6.99692136e-02 -1.65982037e-03 9.97547770e-01 8.18699475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.27, Y:6.76, Z:8.16 [[ 9.97006051e-01 -3.28860931e-02 -6.99817050e-02 1.13269614e+02] [ 3.28965480e-02 9.99458258e-01 -1.00340325e-03 6.75747155e+00] [ 6.99767910e-02 -1.30175741e-03 9.97547770e-01 8.16237139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.33, Y:6.76, Z:8.16 [[ 9.97052834e-01 -3.14359890e-02 -6.99816096e-02 1.13327816e+02] [ 3.14424138e-02 9.99505055e-01 -1.01000896e-03 6.76141672e+00] [ 6.99787232e-02 -1.19335843e-03 9.97547770e-01 8.16466459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:113.39, Y:6.76, Z:8.19 [[ 9.96995921e-01 -3.31929386e-02 -6.99811551e-02 1.13385877e+02] [ 3.32015398e-02 9.99448135e-01 -1.04057751e-03 6.76379953e+00] [ 6.99770748e-02 -1.28603058e-03 9.97547771e-01 8.19216480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64863999999999 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:113.44, Y:6.76, Z:8.20 [[ 9.96635927e-01 -4.26552622e-02 -6.99811232e-02 1.13443175e+02] [ 4.26869900e-02 9.99087951e-01 -1.04271975e-03 6.76312851e+00] [ 6.99617745e-02 -1.94807154e-03 9.97547771e-01 8.19666681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.50, Y:6.76, Z:8.18 [[ 9.96453822e-01 -4.67172231e-02 -6.99805742e-02 1.13504634e+02] [ 4.67564451e-02 9.98905737e-01 -1.07835235e-03 6.76125762e+00] [ 6.99543747e-02 -2.19751456e-03 9.97547771e-01 8.17743390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.56, Y:6.76, Z:8.18 [[ 9.96145408e-01 -5.28871474e-02 -6.99805412e-02 1.13562899e+02] [ 5.29414030e-02 9.98597036e-01 -1.08048943e-03 6.75775778e+00] [ 6.99395050e-02 -2.62854344e-03 9.97547771e-01 8.18123977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.62, Y:6.75, Z:8.19 [[ 9.95856234e-01 -5.80784697e-02 -6.99803789e-02 1.13621413e+02] [ 5.81447724e-02 9.98307566e-01 -1.09090023e-03 6.74687440e+00] [ 6.99252995e-02 -2.98261341e-03 9.97547772e-01 8.18533257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.68, Y:6.73, Z:8.19 [[ 9.95782216e-01 -5.93345602e-02 -6.99799183e-02 1.13680693e+02] [ 5.94019356e-02 9.98233518e-01 -1.11968843e-03 6.73394449e+00] [ 6.99227363e-02 -3.04197678e-03 9.97547772e-01 8.18922566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94863999999998 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:113.74, Y:6.73, Z:8.22 [[ 9.95934142e-01 -5.67279597e-02 -6.99794489e-02 1.13737170e+02] [ 5.67869120e-02 9.98385661e-01 -1.14829485e-03 6.72629036e+00] [ 6.99316188e-02 -2.83029077e-03 9.97547772e-01 8.21726208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.80, Y:6.72, Z:8.20 [[ 9.96032199e-01 -5.49800858e-02 -6.99789205e-02 1.13796540e+02] [ 5.50325365e-02 9.98483865e-01 -1.17964372e-03 6.71530181e+00] [ 6.99376799e-02 -2.67615437e-03 9.97547773e-01 8.19709278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.86, Y:6.70, Z:8.20 [[ 9.96181331e-01 -5.22091051e-02 -6.99783224e-02 1.13855194e+02] [ 5.22523167e-02 9.98633177e-01 -1.21411985e-03 6.70108194e+00] [ 6.99460625e-02 -2.44704593e-03 9.97547773e-01 8.20173060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.91, Y:6.69, Z:8.20 [[ 9.96235738e-01 -5.11610875e-02 -6.99778378e-02 1.13912887e+02] [ 5.11998030e-02 9.98687658e-01 -1.24143758e-03 6.69264514e+00] [ 6.99495163e-02 -2.34608703e-03 9.97547774e-01 8.20420743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:113.97, Y:6.68, Z:8.21 [[ 9.96329466e-01 -4.93029962e-02 -6.99772052e-02 1.13970802e+02] [ 4.93347047e-02 9.98781487e-01 -1.27612761e-03 6.67775450e+00] [ 6.99548540e-02 -2.18086121e-03 9.97547774e-01 8.20846168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.03, Y:6.67, Z:8.21 [[ 9.96569825e-01 -4.41799015e-02 -6.99765678e-02 1.14029359e+02] [ 4.41966138e-02 9.99021993e-01 -1.31017418e-03 6.66887782e+00] [ 6.99660136e-02 -1.78704730e-03 9.97547775e-01 8.21331090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.09, Y:6.66, Z:8.22 [[ 9.96740724e-01 -4.01408838e-02 -6.99759862e-02 1.14088358e+02] [ 4.01455279e-02 9.99192944e-01 -1.34053582e-03 6.65847867e+00] [ 6.99733220e-02 -1.47305626e-03 9.97547775e-01 8.21876742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:114.15, Y:6.65, Z:8.22 [[ 9.96867772e-01 -3.68522950e-02 -6.99753829e-02 1.14146839e+02] [ 3.68466885e-02 9.99319989e-01 -1.37132145e-03 6.65252270e+00] [ 6.99783353e-02 -1.21133498e-03 9.97547776e-01 8.22233919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42863999999999 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:114.20, Y:6.65, Z:8.25 [[ 9.97130094e-01 -2.88983496e-02 -6.99747141e-02 1.14203876e+02] [ 2.88708421e-02 9.99582163e-01 -1.40464015e-03 6.64627083e+00] [ 6.99860679e-02 -6.19619960e-04 9.97547776e-01 8.25017612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.26, Y:6.65, Z:8.23 [[ 9.97369655e-01 -1.89040515e-02 -6.99743453e-02 1.14264089e+02] [ 1.88506989e-02 9.99821297e-01 -1.42278241e-03 6.64655877e+00] [ 6.99887370e-02 9.99746860e-05 9.97547777e-01 8.23235174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54863999999998 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:114.32, Y:6.65, Z:8.26 [[ 9.97522442e-01 -7.25701364e-03 -6.99736615e-02 1.14321542e+02] [ 7.17273270e-03 9.99973216e-01 -1.45565382e-03 6.64981703e+00] [ 6.99823510e-02 9.50144980e-04 9.97547777e-01 8.25797523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.38, Y:6.66, Z:8.24 [[ 9.97546112e-01 -2.33679233e-03 -6.99735156e-02 1.14381546e+02] [ 2.23993500e-03 9.99996422e-01 -1.46263207e-03 6.65784060e+00] [ 6.99766831e-02 1.30230681e-03 9.97547777e-01 8.24257881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.44, Y:6.66, Z:8.25 [[ 9.97548668e-01 -6.78950536e-04 -6.99728149e-02 1.14439344e+02] [ 5.75722258e-04 9.99998716e-01 -1.49541924e-03 6.66457265e+00] [ 6.99737404e-02 1.45146856e-03 9.97547778e-01 8.24580326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72863999999998 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:114.50, Y:6.67, Z:8.27 [[ 9.97546037e-01 -2.41353462e-03 -6.99719930e-02 1.14496576e+02] [ 2.31193574e-03 9.99996153e-01 -1.53294191e-03 6.67294995e+00] [ 6.99754235e-02 1.36740938e-03 9.97547778e-01 8.26984959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:114.56, Y:6.68, Z:8.25 [[ 9.97484676e-01 -1.13288909e-02 -6.99712571e-02 1.14556222e+02] [ 1.12468872e-02 9.99935526e-01 -1.56582610e-03 6.67975284e+00] [ 6.99844848e-02 7.74928701e-04 9.97547779e-01 8.25272480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84863999999997 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:114.61, Y:6.68, Z:8.27 [[ 9.97450244e-01 -1.40406530e-02 -6.99705019e-02 1.14614484e+02] [ 1.39629941e-02 9.99901234e-01 -1.59887904e-03 6.68189415e+00] [ 6.99860405e-02 6.17804587e-04 9.97547780e-01 8.27433338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.67, Y:6.69, Z:8.26 [[ 9.97225105e-01 -2.54211458e-02 -6.99703954e-02 1.14674392e+02] [ 2.53711330e-02 9.99676815e-01 -1.60352575e-03 6.68541453e+00] [ 6.99885454e-02 -1.76152070e-04 9.97547780e-01 8.26078137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.73, Y:6.68, Z:8.26 [[ 9.96974718e-01 -3.38464968e-02 -6.99701763e-02 1.14732240e+02] [ 3.38165350e-02 9.99426756e-01 -1.61303072e-03 6.68363144e+00] [ 6.99846617e-02 -7.57998070e-04 9.97547780e-01 8.26401005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.79, Y:6.68, Z:8.27 [[ 9.96801566e-01 -3.86126267e-02 -6.99693044e-02 1.14789619e+02] [ 3.85917938e-02 9.99253697e-01 -1.65000259e-03 6.68069217e+00] [ 6.99807971e-02 -1.05551580e-03 9.97547780e-01 8.26881490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.85, Y:6.67, Z:8.27 [[ 9.96591169e-01 -4.37088043e-02 -6.99684324e-02 1.14847763e+02] [ 4.36979699e-02 9.99043365e-01 -1.68618765e-03 6.67353230e+00] [ 6.99751994e-02 -1.37703874e-03 9.97547781e-01 8.27324444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:114.91, Y:6.66, Z:8.28 [[ 9.96546469e-01 -4.47177500e-02 -6.99675554e-02 1.14905499e+02] [ 4.47068969e-02 9.98998663e-01 -1.72182942e-03 6.66334790e+00] [ 6.99744906e-02 -1.41214925e-03 9.97547782e-01 8.27834976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20863999999997 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:114.96, Y:6.66, Z:8.30 [[ 9.96662618e-01 -4.20510640e-02 -6.99666646e-02 1.14963781e+02] [ 4.20311602e-02 9.99114755e-01 -1.75729862e-03 6.65775289e+00] [ 6.99786232e-02 -1.18934625e-03 9.97547782e-01 8.30222459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.02, Y:6.65, Z:8.29 [[ 9.96943046e-01 -3.47741919e-02 -6.99665506e-02 1.15024897e+02] [ 3.47360700e-02 9.99394968e-01 -1.76182694e-03 6.65129923e+00] [ 6.99854846e-02 -6.73921879e-04 9.97547782e-01 8.28561039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:115.08, Y:6.65, Z:8.31 [[ 9.97119157e-01 -2.92930714e-02 -6.99664371e-02 1.15082241e+02] [ 2.92411554e-02 9.99570825e-01 -1.76632282e-03 6.64553458e+00] [ 6.99881503e-02 -2.84665134e-04 9.97547782e-01 8.31317799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.14, Y:6.64, Z:8.29 [[ 9.97271990e-01 -2.35242842e-02 -6.99656102e-02 1.15142131e+02] [ 2.34559294e-02 9.99723254e-01 -1.79849089e-03 6.64376618e+00] [ 6.99885557e-02 1.52476172e-04 9.97547783e-01 8.29447386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:115.20, Y:6.65, Z:8.32 [[ 9.97387223e-01 -1.79905304e-02 -6.99647599e-02 1.15199165e+02] [ 1.79062966e-02 9.99837993e-01 -1.83098386e-03 6.64833694e+00] [ 6.99863655e-02 5.73390163e-04 9.97547783e-01 8.32092358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:115.26, Y:6.65, Z:8.32 [[ 9.97416399e-01 -1.62966351e-02 -6.99638971e-02 1.15258229e+02] [ 1.62059670e-02 9.99866938e-01 -1.86338098e-03 6.65037401e+00] [ 6.99849544e-02 7.24734144e-04 9.97547784e-01 8.31997369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:115.32, Y:6.66, Z:8.33 [[ 9.97397960e-01 -1.73921747e-02 -6.99630071e-02 1.15317230e+02] [ 1.73018951e-02 9.99848513e-01 -1.89621894e-03 6.65626497e+00] [ 6.99853880e-02 6.80792296e-04 9.97547784e-01 8.32864232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:115.38, Y:6.66, Z:8.33 [[ 9.97333753e-01 -2.07504372e-02 -6.99628780e-02 1.15375930e+02] [ 2.06680760e-02 9.99784585e-01 -1.90097056e-03 6.65985993e+00] [ 6.99872529e-02 4.49904022e-04 9.97547784e-01 8.33293406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68863999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:115.43, Y:6.66, Z:8.34 [[ 9.97246125e-01 -2.46066795e-02 -6.99619660e-02 1.15433350e+02] [ 2.45314811e-02 9.99697187e-01 -1.93396269e-03 6.66277695e+00] [ 6.99883691e-02 2.12366150e-04 9.97547785e-01 8.33612474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:115.49, Y:6.66, Z:8.34 [[ 9.97163842e-01 -2.77442552e-02 -6.99609000e-02 1.15492353e+02] [ 2.76741153e-02 9.99615054e-01 -1.97178691e-03 6.66396175e+00] [ 6.99886746e-02 3.00885930e-05 9.97547786e-01 8.33972905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:115.55, Y:6.66, Z:8.34 [[ 9.97028348e-01 -3.22502090e-02 -6.99599648e-02 1.15551325e+02] [ 3.21888565e-02 9.99479795e-01 -2.00442906e-03 6.66221250e+00] [ 6.99882145e-02 -2.53458681e-04 9.97547786e-01 8.34226231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86863999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:115.61, Y:6.66, Z:8.34 [[ 9.96869095e-01 -3.68476054e-02 -6.99590020e-02 1.15610813e+02] [ 3.67952382e-02 9.99320749e-01 -2.03749063e-03 6.65920643e+00] [ 6.99865589e-02 -5.43046710e-04 9.97547787e-01 8.33984863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:115.67, Y:6.66, Z:8.33 [[ 9.96848865e-01 -3.73912732e-02 -6.99587983e-02 1.15671631e+02] [ 3.73397540e-02 9.99300537e-01 -2.04446064e-03 6.65908134e+00] [ 6.99863097e-02 -5.74226049e-04 9.97547787e-01 8.32555782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98863999999998 meters Centerline goodness : 0.871972 with order 3 Centerline is valid? [True, False] Translation: X:115.72, Y:6.68, Z:8.33 [[ 9.95182434e-01 -2.44048367e-02 -9.49543379e-02 1.15723753e+02] [ 2.12163801e-02 9.99181373e-01 -3.44448658e-02 6.68409056e+00] [ 9.57172271e-02 3.22643381e-02 9.94885534e-01 8.33243636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [False, True] Translation: X:115.69, Y:6.69, Z:8.33 [[ 9.97100241e-01 -1.98652693e-02 -7.34607370e-02 1.15689256e+02] [ 1.65750601e-02 9.98843596e-01 -4.51302383e-02 6.69368271e+00] [ 7.42723111e-02 4.37817554e-02 9.96276458e-01 8.32832102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10864 meters Centerline goodness : 0.997935 with order 1 Centerline is valid? [True, True] Translation: X:115.75, Y:6.65, Z:8.36 [[ 9.97114358e-01 -1.71099080e-02 -7.39608549e-02 1.15746432e+02] [ 1.71041597e-02 9.99853460e-01 -7.11153694e-04 6.65181604e+00] [ 7.39621844e-02 -5.55936714e-04 9.97260892e-01 8.35523262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16863999999998 meters Centerline goodness : 0.997097 with order 1 Centerline is valid? [True, True] Translation: X:115.81, Y:6.65, Z:8.36 [[ 9.97061716e-01 -1.99443662e-02 -7.39605141e-02 1.15805116e+02] [ 1.99438952e-02 9.99800823e-01 -7.44984930e-04 6.65330225e+00] [ 7.39606412e-02 -7.32264787e-04 9.97260892e-01 8.36099517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22863999999998 meters Centerline goodness : 0.996162 with order 1 Centerline is valid? [True, True] Translation: X:115.86, Y:6.65, Z:8.36 [[ 9.97059672e-01 -2.00475971e-02 -7.39601524e-02 1.15863496e+02] [ 2.00448633e-02 9.99798778e-01 -7.79314623e-04 6.65421559e+00] [ 7.39608934e-02 -7.05497961e-04 9.97260893e-01 8.36369553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28864 meters Centerline goodness : 0.996652 with order 1 Centerline is valid? [True, True] Translation: X:115.92, Y:6.66, Z:8.34 [[ 9.97100168e-01 -1.79222687e-02 -7.39597725e-02 1.15924477e+02] [ 1.79111351e-02 9.99839252e-01 -8.13847443e-04 6.65614326e+00] [ 7.39624696e-02 -5.13216054e-04 9.97260894e-01 8.34206947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34864 meters Centerline goodness : 0.997789 with order 1 Centerline is valid? [True, True] Translation: X:115.98, Y:6.65, Z:8.35 [[ 9.97061015e-01 -1.99834548e-02 -7.39594098e-02 1.15982205e+02] [ 1.99756305e-02 9.99800110e-01 -8.45570380e-04 6.65392976e+00] [ 7.39615235e-02 -6.34300579e-04 9.97260894e-01 8.34633194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40864 meters Centerline goodness : 0.997100 with order 1 Centerline is valid? [True, True] Translation: X:116.04, Y:6.65, Z:8.35 [[ 9.97022304e-01 -2.18311419e-02 -7.39589467e-02 1.16040234e+02] [ 2.18255204e-02 9.99761404e-01 -8.84307290e-04 6.65219505e+00] [ 7.39606058e-02 -7.32518405e-04 9.97260895e-01 8.35230703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46864 meters Centerline goodness : 0.994335 with order 1 Centerline is valid? [True, True] Translation: X:116.10, Y:6.65, Z:8.38 [[ 9.96962850e-01 -2.43961377e-02 -7.39588008e-02 1.16096811e+02] [ 2.43966699e-02 9.99701955e-01 -8.96350893e-04 6.65178993e+00] [ 7.39586252e-02 -9.10719905e-04 9.97260895e-01 8.38149918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52864 meters Centerline goodness : 0.997294 with order 1 Centerline is valid? [True, True] Translation: X:116.16, Y:6.65, Z:8.36 [[ 9.96857920e-01 -2.83627528e-02 -7.39583751e-02 1.16157242e+02] [ 2.83716732e-02 9.99597010e-01 -9.30195080e-04 6.65101451e+00] [ 7.39549536e-02 -1.17105052e-03 9.97260895e-01 8.36029750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58864 meters Centerline goodness : 0.994195 with order 1 Centerline is valid? [True, True] Translation: X:116.21, Y:6.65, Z:8.39 [[ 9.96652051e-01 -3.48556022e-02 -7.39579308e-02 1.16214307e+02] [ 3.48798365e-02 9.99391048e-01 -9.64279679e-04 6.64808740e+00] [ 7.39465045e-02 -1.61858922e-03 9.97260896e-01 8.39022900e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64864 meters Centerline goodness : 0.962815 with order 2 Centerline is valid? [True, True] Translation: X:116.30, Y:6.69, Z:8.37 [[ 9.95520516e-01 5.88998657e-02 -7.39574812e-02 1.16296777e+02] [-5.91354368e-02 9.98249470e-01 -9.97611678e-04 6.68662897e+00] [ 7.37692572e-02 5.36665085e-03 9.97260897e-01 8.36637487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70864 meters Centerline goodness : 0.996260 with order 1 Centerline is valid? [True, True] Translation: X:116.33, Y:6.63, Z:8.37 [[ 9.96356427e-01 -4.23109366e-02 -7.40517113e-02 1.16332586e+02] [ 4.29286709e-02 9.99055205e-01 6.76953551e-03 6.63345797e+00] [ 7.36953223e-02 -9.92381175e-03 9.97231426e-01 8.37280957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76864 meters Centerline goodness : 0.992030 with order 1 Centerline is valid? [True, True] Translation: X:116.39, Y:6.64, Z:8.41 [[ 9.96344409e-01 -4.28225252e-02 -7.39192146e-02 1.16389457e+02] [ 4.28478368e-02 9.99080835e-01 -1.24408250e-03 6.63857931e+00] [ 7.39045454e-02 -1.92774380e-03 9.97263457e-01 8.40697719e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82864 meters Centerline goodness : 0.992478 with order 1 Centerline is valid? [True, True] Translation: X:116.45, Y:6.63, Z:8.40 [[ 9.96306157e-01 -4.37043185e-02 -7.39186942e-02 1.16448750e+02] [ 4.37298139e-02 9.99042581e-01 -1.27427018e-03 6.63399882e+00] [ 7.39036142e-02 -1.96288752e-03 9.97263457e-01 8.40410192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88863999999998 meters Centerline goodness : 0.954881 with order 1 Centerline is valid? [True, True] Translation: X:116.51, Y:6.66, Z:8.38 [[ 9.95963188e-01 5.09250573e-02 -7.39186515e-02 1.16508855e+02] [-5.11592253e-02 9.98689693e-01 -1.27674482e-03 6.66398671e+00] [ 7.37567771e-02 5.05321178e-03 9.97263457e-01 8.38204997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94863999999998 meters Centerline goodness : 0.996848 with order 1 Centerline is valid? [True, True] Translation: X:116.57, Y:6.62, Z:8.39 [[ 9.94867467e-01 -6.90997315e-02 -7.39185374e-02 1.16567686e+02] [ 6.91943377e-02 9.97602374e-01 -1.28331343e-03 6.61621634e+00] [ 7.38299850e-02 -3.83801746e-03 9.97263457e-01 8.39471751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00863999999999 meters Centerline goodness : 0.991643 with order 1 Centerline is valid? [True, True] Translation: X:116.62, Y:6.62, Z:8.42 [[ 9.96602922e-01 -3.63135576e-02 -7.39184763e-02 1.16624870e+02] [ 3.63178253e-02 9.99339462e-01 -1.28682629e-03 6.62293414e+00] [ 7.39163795e-02 -1.40210347e-03 9.97263457e-01 8.42178514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06864 meters Centerline goodness : 0.991440 with order 1 Centerline is valid? [True, True] Translation: X:116.68, Y:6.62, Z:8.43 [[ 9.96774992e-01 -3.12360915e-02 -7.39183486e-02 1.16683964e+02] [ 3.12258777e-02 9.99511516e-01 -1.29411907e-03 6.62118150e+00] [ 7.39226639e-02 -1.01821979e-03 9.97263457e-01 8.42514294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12864 meters Centerline goodness : 0.994289 with order 1 Centerline is valid? [True, True] Translation: X:116.74, Y:6.62, Z:8.41 [[ 9.96831275e-01 -2.93867005e-02 -7.39177339e-02 1.16744565e+02] [ 2.93688732e-02 9.99567759e-01 -1.32832828e-03 6.62127932e+00] [ 7.39248188e-02 -8.46761378e-04 9.97263458e-01 8.41039968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18864 meters Centerline goodness : 0.991381 with order 1 Centerline is valid? [True, True] Translation: X:116.80, Y:6.63, Z:8.44 [[ 9.96998802e-01 -2.30139989e-02 -7.39171495e-02 1.16801358e+02] [ 2.29763248e-02 9.99735084e-01 -1.36008821e-03 6.62788918e+00] [ 7.39288688e-02 -3.42338127e-04 9.97263458e-01 8.43539364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24864 meters Centerline goodness : 0.991533 with order 1 Centerline is valid? [True, True] Translation: X:116.86, Y:6.63, Z:8.44 [[ 9.97043664e-01 -2.09829328e-02 -7.39164976e-02 1.16860406e+02] [ 2.09371227e-02 9.99779822e-01 -1.39464499e-03 6.63154049e+00] [ 7.39294865e-02 -1.57076825e-04 9.97263459e-01 8.43872045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30864 meters Centerline goodness : 0.992774 with order 1 Centerline is valid? [True, True] Translation: X:116.92, Y:6.64, Z:8.44 [[ 9.97059640e-01 -2.02120440e-02 -7.39158088e-02 1.16919324e+02] [ 2.01614794e-02 9.99795714e-01 -1.43024263e-03 6.64072233e+00] [ 7.39296170e-02 -6.42148482e-05 9.97263459e-01 8.44148288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36864 meters Centerline goodness : 0.995771 with order 1 Centerline is valid? [True, True] Translation: X:116.98, Y:6.65, Z:8.43 [[ 9.96895888e-01 -2.71135495e-02 -7.39151150e-02 1.16979055e+02] [ 2.70793311e-02 9.99632214e-01 -1.46524404e-03 6.64607093e+00] [ 7.39276580e-02 -5.40876117e-04 9.97263460e-01 8.42813763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42864 meters Centerline goodness : 0.994529 with order 1 Centerline is valid? [True, True] Translation: X:117.04, Y:6.65, Z:8.45 [[ 9.96802079e-01 -3.03689965e-02 -7.39144062e-02 1.17035784e+02] [ 3.03411248e-02 9.99538476e-01 -1.50016998e-03 6.65052863e+00] [ 7.39258516e-02 -7.47273670e-04 9.97263461e-01 8.45067459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48864 meters Centerline goodness : 0.995965 with order 1 Centerline is valid? [True, True] Translation: X:117.09, Y:6.65, Z:8.46 [[ 9.96780056e-01 -3.10840273e-02 -7.39141562e-02 1.17094488e+02] [ 3.10572127e-02 9.99516464e-01 -1.51238819e-03 6.65201807e+00] [ 7.39254272e-02 -7.88049280e-04 9.97263461e-01 8.45739561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54864 meters Centerline goodness : 0.996852 with order 1 Centerline is valid? [True, True] Translation: X:117.15, Y:6.66, Z:8.46 [[ 9.96850422e-01 -2.87409513e-02 -7.39134274e-02 1.17153448e+02] [ 2.87051229e-02 9.99586726e-01 -1.54720933e-03 6.65656212e+00] [ 7.39273491e-02 -5.79357748e-04 9.97263461e-01 8.46220311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60864 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:117.21, Y:6.66, Z:8.45 [[ 9.96856039e-01 -2.85473564e-02 -7.39126905e-02 1.17213969e+02] [ 2.85084433e-02 9.99592300e-01 -1.58164704e-03 6.65914611e+00] [ 7.39277081e-02 -5.30461348e-04 9.97263462e-01 8.44676805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66863999999998 meters Centerline goodness : 0.997786 with order 1 Centerline is valid? [True, True] Translation: X:117.27, Y:6.66, Z:8.47 [[ 9.96805087e-01 -3.02759928e-02 -7.39119901e-02 1.17271603e+02] [ 3.02394462e-02 9.99541381e-01 -1.61372788e-03 6.66068651e+00] [ 7.39269498e-02 -6.26485485e-04 9.97263462e-01 8.46976277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72863999999998 meters Centerline goodness : 0.997835 with order 1 Centerline is valid? [True, True] Translation: X:117.33, Y:6.66, Z:8.47 [[ 9.96716886e-01 -3.30529920e-02 -7.39117618e-02 1.17329812e+02] [ 3.30232987e-02 9.99453263e-01 -1.62411576e-03 6.66037605e+00] [ 7.39250334e-02 -8.22026588e-04 9.97263463e-01 8.47335932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78864 meters Centerline goodness : 0.997343 with order 1 Centerline is valid? [True, True] Translation: X:117.39, Y:6.66, Z:8.48 [[ 9.96676842e-01 -3.42411178e-02 -7.39108755e-02 1.17387913e+02] [ 3.42117664e-02 9.99413222e-01 -1.66349697e-03 6.66293671e+00] [ 7.39244662e-02 -8.70652706e-04 9.97263463e-01 8.47797758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84864 meters Centerline goodness : 0.998328 with order 1 Centerline is valid? [True, True] Translation: X:117.45, Y:6.66, Z:8.48 [[ 9.96706150e-01 -3.33791360e-02 -7.39099655e-02 1.17445742e+02] [ 3.33444893e-02 9.99442467e-01 -1.70299622e-03 6.66494437e+00] [ 7.39256028e-02 -7.67103246e-04 9.97263464e-01 8.47946219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:117.51, Y:6.67, Z:8.47 [[ 9.96767318e-01 -3.15019073e-02 -7.39090259e-02 1.17506623e+02] [ 3.14591526e-02 9.99503519e-01 -1.74284501e-03 6.66961200e+00] [ 7.39272344e-02 -5.87904378e-04 9.97263465e-01 8.46554939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96864 meters Centerline goodness : 0.963279 with order 1 Centerline is valid? [True, True] Translation: X:117.57, Y:6.72, Z:8.47 [[ 9.95609968e-01 5.74305223e-02 -7.39089031e-02 1.17565937e+02] [-5.77172721e-02 9.98331438e-01 -1.74803709e-03 6.71590632e+00] [ 7.36851908e-02 6.00618342e-03 9.97263465e-01 8.46946882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02864 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:117.62, Y:6.68, Z:8.50 [[ 9.96746003e-01 -3.21695427e-02 -7.39089031e-02 1.17624223e+02] [ 3.21282358e-02 9.99482226e-01 -1.74803709e-03 6.67809776e+00] [ 7.39268685e-02 -6.32213685e-04 9.97263465e-01 8.49859029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08864 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:117.69, Y:6.68, Z:8.48 [[ 9.96537906e-01 -3.80760994e-02 -7.39081325e-02 1.17685294e+02] [ 3.80486366e-02 9.99274303e-01 -1.78003486e-03 6.67858448e+00] [ 7.39222743e-02 -1.03823145e-03 9.97263465e-01 8.48008716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:117.74, Y:6.68, Z:8.48 [[ 9.96435931e-01 -4.06576042e-02 -7.39080157e-02 1.17742697e+02] [ 4.06368718e-02 9.99172387e-01 -1.78487104e-03 6.67866492e+00] [ 7.39194170e-02 -1.22488093e-03 9.97263465e-01 8.48455565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20864 meters Centerline goodness : 0.999310 with order 1 Centerline is valid? [True, True] Translation: X:117.80, Y:6.68, Z:8.51 [[ 9.96461312e-01 -4.00324564e-02 -7.39070758e-02 1.17800136e+02] [ 4.00071816e-02 9.99197729e-01 -1.82297573e-03 6.67734052e+00] [ 7.39207605e-02 -1.14028902e-03 9.97263466e-01 8.51204319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:117.86, Y:6.67, Z:8.49 [[ 9.96487427e-01 -3.93773910e-02 -7.39068984e-02 1.17861301e+02] [ 3.93497860e-02 9.99223821e-01 -1.83014169e-03 6.67382622e+00] [ 7.39215996e-02 -1.08450746e-03 9.97263466e-01 8.49256456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:117.92, Y:6.67, Z:8.50 [[ 9.96486844e-01 -3.93923671e-02 -7.39067785e-02 1.17918698e+02] [ 3.93644452e-02 9.99223235e-01 -1.83497036e-03 6.67317176e+00] [ 7.39216541e-02 -1.08077551e-03 9.97263466e-01 8.49666760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38863999999998 meters Centerline goodness : 0.999064 with order 1 Centerline is valid? [True, True] Translation: X:117.98, Y:6.67, Z:8.53 [[ 9.96541641e-01 -3.79827578e-02 -7.39058104e-02 1.17976856e+02] [ 3.79481328e-02 9.99277955e-01 -1.87316818e-03 6.66937971e+00] [ 7.39235952e-02 -9.37897422e-04 9.97263467e-01 8.52506076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:118.04, Y:6.67, Z:8.51 [[ 9.96612679e-01 -3.60710061e-02 -7.39056882e-02 1.18037148e+02] [ 3.60307754e-02 9.99348916e-01 -1.87797742e-03 6.66604711e+00] [ 7.39253100e-02 -7.91263149e-04 9.97263467e-01 8.50701362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:118.10, Y:6.66, Z:8.51 [[ 9.96677350e-01 -3.42394533e-02 -7.39048010e-02 1.18096404e+02] [ 3.41916518e-02 9.99413465e-01 -1.91226701e-03 6.66464761e+00] [ 7.39269283e-02 -6.21014004e-04 9.97263468e-01 8.51119306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:118.16, Y:6.66, Z:8.52 [[ 9.96802500e-01 -3.03797021e-02 -7.39043344e-02 1.18155439e+02] [ 3.03199812e-02 9.99538380e-01 -1.93013362e-03 6.66251268e+00] [ 7.39288556e-02 -3.16816009e-04 9.97263468e-01 8.51685051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62864 meters Centerline goodness : 0.998721 with order 1 Centerline is valid? [True, True] Translation: X:118.21, Y:6.66, Z:8.55 [[ 9.96883208e-01 -2.76071418e-02 -7.39034199e-02 1.18212810e+02] [ 2.75372611e-02 9.99618847e-01 -1.96453817e-03 6.66401210e+00] [ 7.39294867e-02 -7.66826566e-05 9.97263468e-01 8.54628177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:118.27, Y:6.66, Z:8.53 [[ 9.96902427e-01 -2.69054878e-02 -7.39029465e-02 1.18273270e+02] [ 2.68323731e-02 9.99637982e-01 -1.98219016e-03 6.66489641e+00] [ 7.39295240e-02 -6.94125097e-06 9.97263468e-01 8.52739672e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74864 meters Centerline goodness : 0.998376 with order 1 Centerline is valid? [True, True] Translation: X:118.33, Y:6.67, Z:8.56 [[ 9.97039665e-01 -2.12227381e-02 -7.39019700e-02 1.18330756e+02] [ 2.11313812e-02 9.99774671e-01 -2.01795311e-03 6.67137064e+00] [ 7.39281442e-02 4.50328587e-04 9.97263469e-01 8.55722287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:118.39, Y:6.68, Z:8.54 [[ 9.97051905e-01 -2.06402126e-02 -7.39018335e-02 1.18391479e+02] [ 2.05468884e-02 9.99786844e-01 -2.02293799e-03 6.67849489e+00] [ 7.39278348e-02 4.98521449e-04 9.97263469e-01 8.53552253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.45, Y:6.68, Z:8.54 [[ 9.97077493e-01 -1.93654458e-02 -7.39016337e-02 1.18450086e+02] [ 1.92680859e-02 9.99812292e-01 -2.03021089e-03 6.68475532e+00] [ 7.39270777e-02 6.00334557e-04 9.97263469e-01 8.54001701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92864 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:118.51, Y:6.69, Z:8.57 [[ 9.97060537e-01 -2.02231859e-02 -7.39006681e-02 1.18506815e+02] [ 2.01256171e-02 9.99795327e-01 -2.06477481e-03 6.68997690e+00] [ 7.39272989e-02 5.71408939e-04 9.97263470e-01 8.56995264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98864 meters Centerline goodness : 0.997341 with order 1 Centerline is valid? [True, True] Translation: X:118.57, Y:6.70, Z:8.58 [[ 9.97129501e-01 -1.64801842e-02 -7.38996733e-02 1.18565689e+02] [ 1.63697555e-02 9.99863802e-01 -2.09978624e-03 6.70115840e+00] [ 7.39242131e-02 8.84039226e-04 9.97263470e-01 8.58322545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04864 meters Centerline goodness : 0.996999 with order 1 Centerline is valid? [True, True] Translation: X:118.63, Y:6.71, Z:8.58 [[ 9.97169320e-01 -1.38637377e-02 -7.38995570e-02 1.18625900e+02] [ 1.37458322e-02 9.99903308e-01 -2.10387002e-03 6.71034518e+00] [ 7.39215790e-02 1.08210373e-03 9.97263470e-01 8.58315702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10863999999998 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:118.69, Y:6.72, Z:8.58 [[ 9.97165783e-01 -1.41161971e-02 -7.38994873e-02 1.18685908e+02] [ 1.39988025e-02 9.99899793e-01 -2.10631594e-03 6.71781875e+00] [ 7.39218153e-02 1.06584185e-03 9.97263470e-01 8.58400489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16863999999998 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:118.74, Y:6.72, Z:8.59 [[ 9.97047913e-01 -2.08407201e-02 -7.38994166e-02 1.18744127e+02] [ 2.07415826e-02 9.99782646e-01 -2.10879401e-03 6.72477606e+00] [ 7.39273031e-02 5.69777818e-04 9.97263470e-01 8.58816106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22863999999998 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:118.80, Y:6.73, Z:8.59 [[ 9.96908173e-01 -2.67043301e-02 -7.38984028e-02 1.18803000e+02] [ 2.66186875e-02 9.99643361e-01 -2.14374210e-03 6.73289558e+00] [ 7.39292950e-02 1.70035530e-04 9.97263471e-01 8.59259429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28864 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:118.86, Y:6.74, Z:8.60 [[ 9.96878547e-01 -2.77908452e-02 -7.38974374e-02 1.18861336e+02] [ 2.77057539e-02 9.99613752e-01 -2.17652234e-03 6.73785807e+00] [ 7.39293821e-02 1.22344213e-04 9.97263471e-01 8.59507613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34864 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:118.92, Y:6.74, Z:8.60 [[ 9.96805198e-01 -3.03104367e-02 -7.38963819e-02 1.18919410e+02] [ 3.02296447e-02 9.99540533e-01 -2.21178751e-03 6.74180725e+00] [ 7.39294692e-02 -2.91400830e-05 9.97263472e-01 8.59981688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:118.98, Y:6.74, Z:8.58 [[ 9.96722785e-01 -3.29119393e-02 -7.38951610e-02 1.18978717e+02] [ 3.28353163e-02 9.99458239e-01 -2.25185335e-03 6.74442729e+00] [ 7.39292403e-02 -1.81897443e-04 9.97263473e-01 8.58302818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:119.04, Y:6.75, Z:8.59 [[ 9.96716262e-01 -3.31116537e-02 -7.38939222e-02 1.19036666e+02] [ 3.30326174e-02 9.99451647e-01 -2.29179654e-03 6.75029507e+00] [ 7.39292874e-02 -1.56638779e-04 9.97263474e-01 8.58823413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:119.09, Y:6.76, Z:8.59 [[ 9.96742453e-01 -3.23164647e-02 -7.38926796e-02 1.19093953e+02] [ 3.22323261e-02 9.99477685e-01 -2.33118632e-03 6.75746885e+00] [ 7.39294201e-02 -5.81405715e-05 9.97263474e-01 8.59118793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58864 meters Centerline goodness : 0.998572 with order 1 Centerline is valid? [True, True] Translation: X:119.15, Y:6.76, Z:8.62 [[ 9.96757584e-01 -3.18493316e-02 -7.38914034e-02 1.19150390e+02] [ 3.17609624e-02 9.99492681e-01 -2.37096081e-03 6.76231646e+00] [ 7.39294305e-02 1.64110824e-05 9.97263475e-01 8.62069848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64864 meters Centerline goodness : 0.996656 with order 1 Centerline is valid? [True, True] Translation: X:119.21, Y:6.77, Z:8.63 [[ 9.96789010e-01 -3.08528247e-02 -7.38902789e-02 1.19208810e+02] [ 3.07591605e-02 9.99523930e-01 -2.40550534e-03 6.77241002e+00] [ 7.39293186e-02 1.24978341e-04 9.97263476e-01 8.62736967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70864 meters Centerline goodness : 0.994686 with order 1 Centerline is valid? [True, True] Translation: X:119.27, Y:6.78, Z:8.63 [[ 9.96820089e-01 -2.98326172e-02 -7.38899560e-02 1.19267290e+02] [ 2.97354218e-02 9.99554886e-01 -2.41538251e-03 6.77938532e+00] [ 7.39291238e-02 2.10552799e-04 9.97263476e-01 8.63406786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:119.33, Y:6.79, Z:8.61 [[ 9.96780190e-01 -3.11399803e-02 -7.38887952e-02 1.19329705e+02] [ 3.10437770e-02 9.99515022e-01 -2.45038636e-03 6.78634103e+00] [ 7.39292658e-02 1.48709299e-04 9.97263476e-01 8.61050673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:119.39, Y:6.79, Z:8.61 [[ 9.96671753e-01 -3.44363191e-02 -7.38888184e-02 1.19388320e+02] [ 3.43492127e-02 9.99406889e-01 -2.44968809e-03 6.78705814e+00] [ 7.39293524e-02 -9.64878107e-05 9.97263476e-01 8.61499972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88863999999998 meters Centerline goodness : 0.991725 with order 1 Centerline is valid? [True, True] Translation: X:119.45, Y:6.79, Z:8.65 [[ 9.96531920e-01 -3.82720008e-02 -7.38876595e-02 1.19445537e+02] [ 3.81928661e-02 9.99267299e-01 -2.48415819e-03 6.79105231e+00] [ 7.39285956e-02 -3.46438550e-04 9.97263477e-01 8.65136240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94863999999998 meters Centerline goodness : 0.996945 with order 1 Centerline is valid? [True, True] Translation: X:119.51, Y:6.79, Z:8.65 [[ 9.96368994e-01 -4.23020294e-02 -7.38875249e-02 1.19505849e+02] [ 4.22336618e-02 9.99104663e-01 -2.48815605e-03 6.79105764e+00] [ 7.39266247e-02 -6.41419195e-04 9.97263477e-01 8.64998120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:119.57, Y:6.80, Z:8.63 [[ 9.96351439e-01 -4.27136612e-02 -7.38874379e-02 1.19567765e+02] [ 4.26462324e-02 9.99087131e-01 -2.49073692e-03 6.79536948e+00] [ 7.39263768e-02 -6.69371531e-04 9.97263477e-01 8.63139267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06864 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:119.63, Y:6.80, Z:8.66 [[ 9.96409284e-01 -4.13422825e-02 -7.38874379e-02 1.19625824e+02] [ 4.12710885e-02 9.99144881e-01 -2.49073692e-03 6.79739615e+00] [ 7.39272281e-02 -5.67621592e-04 9.97263477e-01 8.65881500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12864 meters Centerline goodness : 0.996948 with order 1 Centerline is valid? [True, True] Translation: X:119.68, Y:6.80, Z:8.66 [[ 9.96472693e-01 -3.97848144e-02 -7.38873558e-02 1.19683852e+02] [ 3.97091643e-02 9.99208170e-01 -2.49316992e-03 6.80328223e+00] [ 7.39280398e-02 -4.49629408e-04 9.97263477e-01 8.66373411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18864 meters Centerline goodness : 0.996798 with order 1 Centerline is valid? [True, True] Translation: X:119.74, Y:6.81, Z:8.67 [[ 9.96486168e-01 -3.94480958e-02 -7.38861638e-02 1.19741670e+02] [ 3.93689383e-02 9.99221545e-01 -2.52800774e-03 6.80699889e+00] [ 7.39283719e-02 -3.89695083e-04 9.97263478e-01 8.66919613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24864 meters Centerline goodness : 0.996753 with order 1 Centerline is valid? [True, True] Translation: X:119.80, Y:6.81, Z:8.67 [[ 9.96401682e-01 -4.15298196e-02 -7.38847966e-02 1.19799690e+02] [ 4.14534592e-02 9.99137137e-01 -2.56735681e-03 6.81012827e+00] [ 7.39276660e-02 -5.04661760e-04 9.97263478e-01 8.67439093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:119.86, Y:6.81, Z:8.66 [[ 9.96366878e-01 -4.23573389e-02 -7.38843691e-02 1.19860895e+02] [ 4.22823424e-02 9.99102372e-01 -2.57960094e-03 6.81396892e+00] [ 7.39273134e-02 -5.53775263e-04 9.97263479e-01 8.65756824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36864 meters Centerline goodness : 0.998033 with order 1 Centerline is valid? [True, True] Translation: X:119.92, Y:6.81, Z:8.68 [[ 9.96267334e-01 -4.46376973e-02 -7.38842004e-02 1.19918317e+02] [ 4.45686043e-02 9.99002983e-01 -2.58442443e-03 6.81491164e+00] [ 7.39258993e-02 -7.18138060e-04 9.97263479e-01 8.68020110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:119.98, Y:6.82, Z:8.67 [[ 9.96381008e-01 -4.20260741e-02 -7.38829937e-02 1.19978199e+02] [ 4.19472858e-02 9.99116394e-01 -2.61847440e-03 6.81905055e+00] [ 7.39277544e-02 -4.90192886e-04 9.97263479e-01 8.66716917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48864 meters Centerline goodness : 0.996901 with order 1 Centerline is valid? [True, True] Translation: X:120.04, Y:6.81, Z:8.69 [[ 9.94870373e-01 -6.90971985e-02 -7.38817846e-02 1.20035939e+02] [ 6.90903022e-02 9.97606885e-01 -2.65215796e-03 6.80511079e+00] [ 7.38882336e-02 -2.46596144e-03 9.97263480e-01 8.68711503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54864 meters Centerline goodness : 0.997981 with order 1 Centerline is valid? [True, True] Translation: X:120.09, Y:6.82, Z:8.69 [[ 9.96083040e-01 -4.85823486e-02 -7.38805361e-02 1.20094079e+02] [ 4.85165193e-02 9.98818767e-01 -2.68649363e-03 6.81850738e+00] [ 7.39237821e-02 -9.08455708e-04 9.97263480e-01 8.69148424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60863999999998 meters Centerline goodness : 0.998130 with order 1 Centerline is valid? [True, True] Translation: X:120.15, Y:6.82, Z:8.70 [[ 9.95952371e-01 -5.11930126e-02 -7.38792892e-02 1.20152099e+02] [ 5.11318426e-02 9.98688207e-01 -2.72035799e-03 6.81935180e+00] [ 7.39216381e-02 -1.06823719e-03 9.97263481e-01 8.69587618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:120.21, Y:6.82, Z:8.68 [[ 9.95998834e-01 -5.02830861e-02 -7.38778287e-02 1.20211322e+02] [ 5.02165166e-02 9.98734543e-01 -2.75946023e-03 6.82220367e+00] [ 7.39230936e-02 -9.61468043e-04 9.97263482e-01 8.68479612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72863999999998 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:120.27, Y:6.83, Z:8.69 [[ 9.96198822e-01 -4.61539471e-02 -7.38763808e-02 1.20270350e+02] [ 4.60732027e-02 9.98934148e-01 -2.79769444e-03 6.82590372e+00] [ 7.39267642e-02 -6.16661566e-04 9.97263482e-01 8.68910250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78864 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:120.33, Y:6.83, Z:8.71 [[ 9.96397954e-01 -4.16362042e-02 -7.38751910e-02 1.20327598e+02] [ 4.15407535e-02 9.99132806e-01 -2.82876832e-03 6.83129784e+00] [ 7.39289060e-02 -2.50252128e-04 9.97263483e-01 8.70621387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84864 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:120.39, Y:6.84, Z:8.70 [[ 9.96486208e-01 -3.94701139e-02 -7.38738649e-02 1.20386699e+02] [ 3.93661816e-02 9.99220750e-01 -2.86298573e-03 6.83977703e+00] [ 7.39293011e-02 -5.52061906e-05 9.97263483e-01 8.69729045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:120.44, Y:6.85, Z:8.70 [[ 9.96558830e-01 -3.75926364e-02 -7.38734826e-02 1.20444960e+02] [ 3.74828234e-02 9.99293143e-01 -2.87281834e-03 6.84696411e+00] [ 7.39292614e-02 9.39457847e-05 9.97263483e-01 8.70154534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96864 meters Centerline goodness : 0.998574 with order 1 Centerline is valid? [True, True] Translation: X:120.50, Y:6.86, Z:8.72 [[ 9.96681669e-01 -3.41841923e-02 -7.38721350e-02 1.20503356e+02] [ 3.40624905e-02 9.99415477e-01 -2.90706349e-03 6.86001579e+00] [ 7.39283306e-02 3.81147998e-04 9.97263484e-01 8.71856063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02864 meters Centerline goodness : 0.997734 with order 1 Centerline is valid? [True, True] Translation: X:120.56, Y:6.87, Z:8.72 [[ 9.96565288e-01 -3.74241027e-02 -7.38719425e-02 1.20560558e+02] [ 3.73109269e-02 9.99299462e-01 -2.91194599e-03 6.87028486e+00] [ 7.39291694e-02 1.45713646e-04 9.97263484e-01 8.72179024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08864 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:120.62, Y:6.88, Z:8.71 [[ 9.96279992e-01 -4.43773256e-02 -7.38703634e-02 1.20621407e+02] [ 4.42803014e-02 9.99014787e-01 -2.95146952e-03 6.87849518e+00] [ 7.39285637e-02 -3.30511934e-04 9.97263485e-01 8.71175510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14864 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:120.68, Y:6.88, Z:8.72 [[ 9.96082157e-01 -4.86160492e-02 -7.38702658e-02 1.20679649e+02] [ 4.85304812e-02 9.98817334e-01 -2.95391186e-03 6.88135765e+00] [ 7.39265094e-02 -6.42620644e-04 9.97263485e-01 8.71719602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20864 meters Centerline goodness : 0.995167 with order 1 Centerline is valid? [True, True] Translation: X:120.74, Y:6.88, Z:8.74 [[ 9.96008889e-01 -5.00966432e-02 -7.38689272e-02 1.20736969e+02] [ 5.00126862e-02 9.98744116e-01 -2.98701463e-03 6.88296350e+00] [ 7.39257958e-02 -7.19290347e-04 9.97263485e-01 8.74326980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:120.80, Y:6.89, Z:8.72 [[ 9.96056981e-01 -4.91332320e-02 -7.38675536e-02 1.20797600e+02] [ 4.90441383e-02 9.98792045e-01 -3.02060836e-03 6.88694714e+00] [ 7.39267371e-02 -6.14072468e-04 9.97263486e-01 8.72274001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:120.86, Y:6.89, Z:8.73 [[ 9.96191259e-01 -4.63332013e-02 -7.38661611e-02 1.20855683e+02] [ 4.62339228e-02 9.98925971e-01 -3.05428480e-03 6.89155197e+00] [ 7.39283415e-02 -3.72470573e-04 9.97263487e-01 8.72674800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:120.91, Y:6.90, Z:8.73 [[ 9.96225099e-01 -4.56024235e-02 -7.38645434e-02 1.20913932e+02] [ 4.54982745e-02 9.98959629e-01 -3.09291933e-03 6.89681904e+00] [ 7.39287415e-02 -2.79465403e-04 9.97263487e-01 8.72995132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44863999999998 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:120.97, Y:6.90, Z:8.73 [[ 9.96066786e-01 -4.89407361e-02 -7.38631339e-02 1.20972938e+02] [ 4.88432822e-02 9.98801562e-01 -3.12622223e-03 6.90195234e+00] [ 7.39276132e-02 -4.93791766e-04 9.97263488e-01 8.73286181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50863999999999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:121.03, Y:6.91, Z:8.74 [[ 9.95928357e-01 -5.16830754e-02 -7.38618108e-02 1.21030173e+02] [ 5.15908560e-02 9.98663315e-01 -3.15717883e-03 6.90555548e+00] [ 7.39262535e-02 -6.66270119e-04 9.97263488e-01 8.73740211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:121.09, Y:6.91, Z:8.74 [[ 9.95795839e-01 -5.41786427e-02 -7.38601503e-02 1.21089035e+02] [ 5.40904307e-02 9.98530928e-01 -3.19555923e-03 6.90651289e+00] [ 7.39247755e-02 -8.13002755e-04 9.97263489e-01 8.74185130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.15, Y:6.90, Z:8.74 [[ 9.95584751e-01 -5.79300808e-02 -7.38587064e-02 1.21148018e+02] [ 5.78497244e-02 9.98320082e-01 -3.22859019e-03 6.90484115e+00] [ 7.39216623e-02 -1.05837065e-03 9.97263490e-01 8.74480891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:121.21, Y:6.90, Z:8.75 [[ 9.95489077e-01 -5.95533599e-02 -7.38572603e-02 1.21207096e+02] [ 5.94750345e-02 9.98224466e-01 -3.26134120e-03 6.90324694e+00] [ 7.39203480e-02 -1.14603356e-03 9.97263490e-01 8.74970785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74864 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:121.27, Y:6.90, Z:8.75 [[ 9.95606656e-01 -5.75561067e-02 -7.38558084e-02 1.21265562e+02] [ 5.74698792e-02 9.98341807e-01 -3.29389547e-03 6.90082514e+00] [ 7.39229250e-02 -9.65060130e-04 9.97263491e-01 8.75338506e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.32, Y:6.90, Z:8.76 [[ 9.95897615e-01 -5.22826772e-02 -7.38543273e-02 1.21324011e+02] [ 5.21795274e-02 9.98632179e-01 -3.32677764e-03 6.89968759e+00] [ 7.39272407e-02 -5.40553973e-04 9.97263491e-01 8.75608656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86864 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:121.38, Y:6.90, Z:8.78 [[ 9.96041510e-01 -4.94682374e-02 -7.38525882e-02 1.21382425e+02] [ 4.93545305e-02 9.98775654e-01 -3.36494796e-03 6.89857606e+00] [ 7.39286251e-02 -2.93331976e-04 9.97263492e-01 8.78185866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92864 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:121.44, Y:6.90, Z:8.79 [[ 9.95972721e-01 -5.08345083e-02 -7.38525020e-02 1.21440686e+02] [ 5.07244119e-02 9.98707013e-01 -3.36683785e-03 6.89820498e+00] [ 7.39281633e-02 -3.92846081e-04 9.97263492e-01 8.78579701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:121.50, Y:6.90, Z:8.79 [[ 9.96002895e-01 -5.02421538e-02 -7.38509187e-02 1.21499265e+02] [ 5.01278821e-02 9.98737016e-01 -3.40121795e-03 6.90039113e+00] [ 7.39285307e-02 -3.14367216e-04 9.97263493e-01 8.78857202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04864 meters Centerline goodness : 0.999065 with order 1 Centerline is valid? [True, True] Translation: X:121.56, Y:6.90, Z:8.80 [[ 9.95937641e-01 -5.15217356e-02 -7.38493468e-02 1.21557548e+02] [ 5.14084709e-02 9.98671803e-01 -3.43501216e-03 6.90196049e+00] [ 7.39282381e-02 -3.75424090e-04 9.97263493e-01 8.79723139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.62, Y:6.90, Z:8.80 [[ 9.95842657e-01 -5.33267617e-02 -7.38488994e-02 1.21616358e+02] [ 5.32177413e-02 9.98576991e-01 -3.44460578e-03 6.90104729e+00] [ 7.39275014e-02 -4.99786253e-04 9.97263493e-01 8.79813332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.68, Y:6.90, Z:8.78 [[ 9.95703686e-01 -5.58635799e-02 -7.38473429e-02 1.21677449e+02] [ 5.57590746e-02 9.98438196e-01 -3.47765825e-03 6.90297683e+00] [ 7.39262823e-02 -6.54942361e-04 9.97263494e-01 8.78416085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.74, Y:6.90, Z:8.79 [[ 9.95666764e-01 -5.65179671e-02 -7.38472308e-02 1.21735660e+02] [ 5.64150827e-02 9.98401336e-01 -3.48003623e-03 6.90406558e+00] [ 7.39258585e-02 -7.01141218e-04 9.97263494e-01 8.78851710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:121.79, Y:6.90, Z:8.81 [[ 9.95788854e-01 -5.43252167e-02 -7.38466650e-02 1.21793527e+02] [ 5.42154232e-02 9.98523156e-01 -3.49200216e-03 6.90310076e+00] [ 7.39273088e-02 -5.26331366e-04 9.97263494e-01 8.81290578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:121.85, Y:6.90, Z:8.79 [[ 9.95794330e-01 -5.42250465e-02 -7.38464369e-02 1.21854045e+02] [ 5.41146208e-02 9.98528608e-01 -3.49681949e-03 6.90168620e+00] [ 7.39273950e-02 -5.14058907e-04 9.97263494e-01 8.79492060e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40864 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:121.91, Y:6.90, Z:8.82 [[ 9.95820393e-01 -5.37449311e-02 -7.38459701e-02 1.21911969e+02] [ 5.36324583e-02 9.98554587e-01 -3.50664844e-03 6.90204753e+00] [ 7.39276968e-02 -4.68548886e-04 9.97263494e-01 8.82187251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:121.97, Y:6.90, Z:8.83 [[ 9.95724510e-01 -5.54933107e-02 -7.38457415e-02 1.21969708e+02] [ 5.53852821e-02 9.98458883e-01 -3.51145746e-03 6.90208351e+00] [ 7.39267989e-02 -5.93522968e-04 9.97263494e-01 8.82679400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:122.03, Y:6.90, Z:8.83 [[ 9.95607584e-01 -5.75554191e-02 -7.38438438e-02 1.22028259e+02] [ 5.74501270e-02 9.98342063e-01 -3.55092137e-03 6.89858401e+00] [ 7.39257901e-02 -7.07013957e-04 9.97263495e-01 8.83187577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58864 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:122.09, Y:6.90, Z:8.84 [[ 9.95502877e-01 -5.93409923e-02 -7.38421875e-02 1.22087271e+02] [ 5.92380745e-02 9.98237446e-01 -3.58503811e-03 6.89768380e+00] [ 7.39247764e-02 -8.05353248e-04 9.97263495e-01 8.83793275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:122.15, Y:6.90, Z:8.84 [[ 9.95571691e-01 -5.81771999e-02 -7.38405183e-02 1.22145824e+02] [ 5.80685595e-02 9.98306038e-01 -3.61909676e-03 6.89533299e+00] [ 7.39259841e-02 -6.84742250e-04 9.97263496e-01 8.84295518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.21, Y:6.89, Z:8.82 [[ 9.95519684e-01 -5.90625458e-02 -7.38388418e-02 1.22206171e+02] [ 5.89538238e-02 9.98254027e-01 -3.65298450e-03 6.89346861e+00] [ 7.39256757e-02 -7.16464092e-04 9.97263496e-01 8.82350845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.27, Y:6.89, Z:8.83 [[ 9.95461452e-01 -6.00366037e-02 -7.38383675e-02 1.22265366e+02] [ 5.99298481e-02 9.98195872e-01 -3.66254580e-03 6.89052893e+00] [ 7.39250405e-02 -7.79198995e-04 9.97263496e-01 8.82683008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.32, Y:6.88, Z:8.83 [[ 9.95292985e-01 -6.27695583e-02 -7.38366936e-02 1.22324612e+02] [ 6.26678303e-02 9.98027596e-01 -3.69598732e-03 6.88290487e+00] [ 7.39230533e-02 -9.48595138e-04 9.97263497e-01 8.83265402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88863999999998 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:122.38, Y:6.88, Z:8.86 [[ 9.95287674e-01 -6.28556868e-02 -7.38350101e-02 1.22382035e+02] [ 6.27517232e-02 9.98022201e-01 -3.72931876e-03 6.88079769e+00] [ 7.39233882e-02 -9.21529126e-04 9.97263498e-01 8.86169147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94863999999998 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:122.44, Y:6.88, Z:8.86 [[ 9.95412380e-01 -6.08509496e-02 -7.38332924e-02 1.22440410e+02] [ 6.07389789e-02 9.98146590e-01 -3.76302169e-03 6.88069119e+00] [ 7.39254326e-02 -7.38800420e-04 9.97263498e-01 8.86492483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00863999999999 meters Centerline goodness : 0.999654 with order 1 Centerline is valid? [True, True] Translation: X:122.50, Y:6.88, Z:8.87 [[ 9.95448359e-01 -6.02602665e-02 -7.38326768e-02 1.22498243e+02] [ 6.01457804e-02 9.98182465e-01 -3.77506315e-03 6.87695931e+00] [ 7.39259696e-02 -6.82843538e-04 9.97263498e-01 8.86902472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06864 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:122.56, Y:6.87, Z:8.87 [[ 9.95357834e-01 -6.17398900e-02 -7.38306669e-02 1.22557152e+02] [ 6.16265824e-02 9.98091989e-01 -3.81397068e-03 6.87388458e+00] [ 7.39252713e-02 -7.53666079e-04 9.97263499e-01 8.87333469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.62, Y:6.87, Z:8.85 [[ 9.95444095e-01 -6.03352992e-02 -7.38288860e-02 1.22617496e+02] [ 6.02155997e-02 9.98177977e-01 -3.84813878e-03 6.87337468e+00] [ 7.39265467e-02 -6.15043615e-04 9.97263499e-01 8.85426431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18864 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:122.67, Y:6.87, Z:8.89 [[ 9.95259250e-01 -6.33118886e-02 -7.38283877e-02 1.22674102e+02] [ 6.31996577e-02 9.97993448e-01 -3.85767701e-03 6.86990131e+00] [ 7.39244840e-02 -8.26540105e-04 9.97263500e-01 8.88587734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24864 meters Centerline goodness : 0.999555 with order 1 Centerline is valid? [True, True] Translation: X:122.73, Y:6.87, Z:8.89 [[ 9.95146093e-01 -6.50683683e-02 -7.38265634e-02 1.22733969e+02] [ 6.49583966e-02 9.97880382e-01 -3.89227979e-03 6.86728773e+00] [ 7.39233436e-02 -9.22268159e-04 9.97263500e-01 8.88612331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30864 meters Centerline goodness : 0.993261 with order 1 Centerline is valid? [True, True] Translation: X:122.79, Y:6.89, Z:8.87 [[ 9.97154903e-01 -1.52241824e-02 -7.38263098e-02 1.22793939e+02] [ 1.49772636e-02 9.99880240e-01 -3.89708386e-03 6.88811758e+00] [ 7.38767983e-02 2.78028018e-03 9.97263500e-01 8.87353957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.36864 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:122.85, Y:6.86, Z:8.89 [[ 9.94761386e-01 -7.07071386e-02 -7.38260538e-02 1.22852954e+02] [ 7.06119490e-02 9.97496229e-01 -3.90192765e-03 6.85969163e+00] [ 7.39171044e-02 -1.33151459e-03 9.97263500e-01 8.89343809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:122.91, Y:6.86, Z:8.88 [[ 9.94925296e-01 -6.83625993e-02 -7.38255383e-02 1.22912813e+02] [ 6.82602430e-02 9.97659881e-01 -3.91165705e-03 6.86116907e+00] [ 7.39201888e-02 -1.14754263e-03 9.97263500e-01 8.87655106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48864 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:122.97, Y:6.86, Z:8.91 [[ 9.95158730e-01 -6.48780277e-02 -7.38237343e-02 1.22970212e+02] [ 6.47635920e-02 9.97892835e-01 -3.94541174e-03 6.86240338e+00] [ 7.39241461e-02 -8.54779273e-04 9.97263501e-01 8.91089888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.03, Y:6.86, Z:8.89 [[ 9.95041628e-01 -6.66500795e-02 -7.38236066e-02 1.23032823e+02] [ 6.65403357e-02 9.97775926e-01 -3.94780068e-03 6.86266065e+00] [ 7.39225387e-02 -9.84021542e-04 9.97263501e-01 8.88735235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60863999999998 meters Centerline goodness : 0.999507 with order 1 Centerline is valid? [True, True] Translation: X:123.09, Y:6.86, Z:8.91 [[ 9.94956568e-01 -6.79080308e-02 -7.38236180e-02 1.23089695e+02] [ 6.78017597e-02 9.97691003e-01 -3.94758758e-03 6.86284035e+00] [ 7.39212324e-02 -1.07769301e-03 9.97263501e-01 8.91169033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66863999999998 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:123.15, Y:6.87, Z:8.92 [[ 9.95046023e-01 -6.65865097e-02 -7.38217435e-02 1.23148745e+02] [ 6.64740295e-02 9.97780208e-01 -3.98233535e-03 6.86517336e+00] [ 7.39230445e-02 -9.44621810e-04 9.97263501e-01 8.91636746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72863999999998 meters Centerline goodness : 0.999704 with order 1 Centerline is valid? [True, True] Translation: X:123.21, Y:6.87, Z:8.92 [[ 9.95054561e-01 -6.64609214e-02 -7.38198263e-02 1.23206533e+02] [ 6.63454829e-02 9.97788623e-01 -4.01756398e-03 6.86747701e+00] [ 7.39235938e-02 -8.99916658e-04 9.97263502e-01 8.92083636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:123.27, Y:6.87, Z:8.93 [[ 9.95063334e-01 -6.63318696e-02 -7.38176470e-02 1.23265186e+02] [ 6.62131354e-02 9.97797254e-01 -4.05721571e-03 6.86883656e+00] [ 7.39241682e-02 -8.50511258e-04 9.97263503e-01 8.92811332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.32, Y:6.88, Z:8.91 [[ 9.95335198e-01 -6.21214382e-02 -7.38157843e-02 1.23324207e+02] [ 6.19886459e-02 9.98068471e-01 -4.09082715e-03 6.87890744e+00] [ 7.39273351e-02 -5.03996263e-04 9.97263503e-01 8.90914762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90864 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:123.38, Y:6.88, Z:8.93 [[ 9.95523578e-01 -5.90283696e-02 -7.38136618e-02 1.23381237e+02] [ 5.88842715e-02 9.98256278e-01 -4.12877350e-03 6.88439257e+00] [ 7.39286661e-02 -2.36172337e-04 9.97263504e-01 8.93309134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.44, Y:6.90, Z:8.92 [[ 9.95580617e-01 -5.80608711e-02 -7.38117271e-02 1.23441340e+02] [ 5.79115741e-02 9.98313036e-01 -4.16307718e-03 6.89552098e+00] [ 7.39289213e-02 -1.29874352e-04 9.97263505e-01 8.91660200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.50, Y:6.90, Z:8.92 [[ 9.95415059e-01 -6.08344291e-02 -7.38107894e-02 1.23499273e+02] [ 6.06915175e-02 9.98147820e-01 -4.17963790e-03 6.90235186e+00] [ 7.39283444e-02 -3.19214301e-04 9.97263505e-01 8.92093801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.56, Y:6.91, Z:8.93 [[ 9.95228487e-01 -6.38162637e-02 -7.38088268e-02 1.23556837e+02] [ 6.36789904e-02 9.97961536e-01 -4.21401281e-03 6.91073327e+00] [ 7.39272928e-02 -5.06165977e-04 9.97263505e-01 8.92528566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:123.61, Y:6.92, Z:8.95 [[ 9.95405606e-01 -6.09940288e-02 -7.38065558e-02 1.23614189e+02] [ 6.08460845e-02 9.98138098e-01 -4.25342015e-03 6.91843294e+00] [ 7.39285685e-02 -2.56961671e-04 9.97263506e-01 8.94786538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:123.67, Y:6.93, Z:8.95 [[ 9.95259548e-01 -6.33331386e-02 -7.38061312e-02 1.23672459e+02] [ 6.31910708e-02 9.97992352e-01 -4.26077557e-03 6.92573049e+00] [ 7.39278028e-02 -4.23310897e-04 9.97263506e-01 8.95314945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.73, Y:6.93, Z:8.96 [[ 9.94864883e-01 -6.92590569e-02 -7.38041128e-02 1.23730651e+02] [ 6.91306937e-02 9.97598364e-01 -4.29545629e-03 6.92887372e+00] [ 7.39243615e-02 -8.28730894e-04 9.97263507e-01 8.95781580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.79, Y:6.93, Z:8.94 [[ 9.94435665e-01 -7.51728506e-02 -7.38021091e-02 1.23790923e+02] [ 7.50582076e-02 9.97169755e-01 -4.32961200e-03 6.93233918e+00] [ 7.39187003e-02 -1.23393344e-03 9.97263507e-01 8.94249312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:123.85, Y:6.93, Z:8.97 [[ 9.94475318e-01 -7.46469986e-02 -7.38015430e-02 1.23848361e+02] [ 7.45301955e-02 9.97209317e-01 -4.33923976e-03 6.93425790e+00] [ 7.39194975e-02 -1.18517659e-03 9.97263507e-01 8.96800126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.91, Y:6.94, Z:8.95 [[ 9.94424686e-01 -7.53189068e-02 -7.38011277e-02 1.23908966e+02] [ 7.52034277e-02 9.97158741e-01 -4.34629256e-03 6.93553583e+00] [ 7.39187976e-02 -1.22803715e-03 9.97263507e-01 8.95032947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:123.97, Y:6.94, Z:8.95 [[ 9.94882367e-01 -6.90127678e-02 -7.37991449e-02 1.23967999e+02] [ 6.88774790e-02 9.97615513e-01 -4.37970346e-03 6.93640540e+00] [ 7.39254273e-02 -7.25809306e-04 9.97263508e-01 8.95434133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:124.03, Y:6.94, Z:8.98 [[ 9.95246014e-01 -6.35558937e-02 -7.37971478e-02 1.24025776e+02] [ 6.34031423e-02 9.97978239e-01 -4.41309986e-03 6.93900341e+00] [ 7.39284262e-02 -2.86851028e-04 9.97263509e-01 8.97881884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.62864 meters Centerline goodness : 0.892090 with order 3 Centerline is valid? [True, False] Translation: X:124.02, Y:6.96, Z:8.98 [[ 9.95369005e-01 -5.74705076e-02 -7.70563742e-02 1.24016454e+02] [ 5.50132067e-02 9.97918663e-01 -3.36435670e-02 6.96479825e+00] [ 7.88295068e-02 2.92486455e-02 9.96458943e-01 8.97962534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.68864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [False, True] Translation: X:124.01, Y:6.98, Z:8.98 [[ 9.95712040e-01 -5.40354311e-02 -7.50846560e-02 1.24012338e+02] [ 5.02203586e-02 9.97393802e-01 -5.18027056e-02 6.97991088e+00] [ 7.76881521e-02 4.78097993e-02 9.95830696e-01 8.98180001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:124.07, Y:6.95, Z:8.99 [[ 9.95829129e-01 -4.77367785e-02 -7.77531099e-02 1.24072300e+02] [ 4.75529445e-02 9.98859825e-01 -4.21517333e-03 6.94733191e+00] [ 7.78656765e-02 5.00203059e-04 9.96963734e-01 8.98728706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.80864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.13, Y:6.95, Z:8.97 [[ 9.95969046e-01 -4.47261239e-02 -7.77510950e-02 1.24132280e+02] [ 4.45302528e-02 9.98998987e-01 -4.25201797e-03 6.95451285e+00] [ 7.78634415e-02 7.72602364e-04 9.96963734e-01 8.97326499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:124.19, Y:6.97, Z:9.00 [[ 9.96184057e-01 -3.96507410e-02 -7.77505252e-02 1.24189562e+02] [ 3.94386229e-02 9.99212904e-01 -4.26241171e-03 6.96865568e+00] [ 7.78583358e-02 1.17977294e-03 9.96963734e-01 8.99645479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.25, Y:6.98, Z:8.98 [[ 9.96233518e-01 -3.83885073e-02 -7.77502411e-02 1.24249490e+02] [ 3.81721478e-02 9.99262065e-01 -4.26758716e-03 6.97766256e+00] [ 7.78566928e-02 1.28361967e-03 9.96963734e-01 8.98309042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:124.31, Y:6.99, Z:9.01 [[ 9.96253609e-01 -3.78673812e-02 -7.77483655e-02 1.24306543e+02] [ 3.76467925e-02 9.99281850e-01 -4.30148962e-03 6.99348376e+00] [ 7.78554167e-02 1.35839797e-03 9.96963735e-01 9.00558545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.04864 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:124.36, Y:7.00, Z:9.01 [[ 9.96207630e-01 -3.90591505e-02 -7.77479319e-02 1.24364349e+02] [ 3.88415742e-02 9.99236089e-01 -4.30931331e-03 7.00255051e+00] [ 7.78568575e-02 1.27311874e-03 9.96963735e-01 9.01038607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:124.42, Y:7.02, Z:9.02 [[ 9.96182465e-01 -3.97004130e-02 -7.77455758e-02 1.24422217e+02] [ 3.94815017e-02 9.99210827e-01 -4.35141055e-03 7.01778771e+00] [ 7.78569738e-02 1.26528681e-03 9.96963736e-01 9.01515712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16863999999998 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:124.48, Y:7.03, Z:9.02 [[ 9.96023339e-01 -4.35139102e-02 -7.77434680e-02 1.24480397e+02] [ 4.33036802e-02 9.99052316e-01 -4.38874880e-03 7.02992988e+00] [ 7.78607634e-02 1.00471796e-03 9.96963737e-01 9.02332689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22863999999998 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:124.54, Y:7.04, Z:9.03 [[ 9.95852264e-01 -4.72707534e-02 -7.77415257e-02 1.24538712e+02] [ 4.70692857e-02 9.98881835e-01 -4.42288957e-03 7.04105717e+00] [ 7.78636712e-02 7.45306510e-04 9.96963737e-01 9.02622640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28864 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:124.60, Y:7.06, Z:9.04 [[ 9.95457407e-01 -5.49648412e-02 -7.77394170e-02 1.24596252e+02] [ 5.47839200e-02 9.98488274e-01 -4.45964957e-03 7.05528921e+00] [ 7.78670202e-02 1.80521206e-04 9.96963738e-01 9.03546531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34864 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:124.65, Y:7.06, Z:9.04 [[ 9.95352163e-01 -5.68396698e-02 -7.77388109e-02 1.24654526e+02] [ 5.66636343e-02 9.98383318e-01 -4.47018880e-03 7.06389472e+00] [ 7.78672161e-02 4.44485392e-05 9.96963738e-01 9.03828850e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40864 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:124.71, Y:7.07, Z:9.04 [[ 9.95259666e-01 -5.84397457e-02 -7.77366917e-02 1.24712076e+02] [ 5.82657281e-02 9.98290937e-01 -4.50674389e-03 7.07420234e+00] [ 7.78672077e-02 -4.40045276e-05 9.96963739e-01 9.04482428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46864 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:124.77, Y:7.08, Z:9.05 [[ 9.95236356e-01 -5.88382142e-02 -7.77345553e-02 1.24770109e+02] [ 5.86625551e-02 9.98267531e-01 -4.54329796e-03 7.08216061e+00] [ 7.78672021e-02 -3.84523270e-05 9.96963739e-01 9.04778016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:124.83, Y:7.09, Z:9.05 [[ 9.95546284e-01 -5.33410720e-02 -7.77324073e-02 1.24829916e+02] [ 5.31458290e-02 9.98576260e-01 -4.57975776e-03 7.09240626e+00] [ 7.78660257e-02 4.28207592e-04 9.96963740e-01 9.04511612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:124.89, Y:7.09, Z:9.03 [[ 9.95000232e-01 -6.27077307e-02 -7.77320978e-02 1.24890025e+02] [ 6.25406015e-02 9.98031889e-01 -4.58500359e-03 7.09442952e+00] [ 7.78666276e-02 -2.99332522e-04 9.96963740e-01 9.03487553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64864 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:124.95, Y:7.10, Z:9.06 [[ 9.94774735e-01 -6.61912205e-02 -7.77299695e-02 1.24947055e+02] [ 6.60319097e-02 9.97806812e-01 -4.62080757e-03 7.09785983e+00] [ 7.78653500e-02 -5.35995696e-04 9.96963741e-01 9.06043185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.70864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:125.01, Y:7.10, Z:9.04 [[ 9.94080240e-01 -7.59134768e-02 -7.77278610e-02 1.25007346e+02] [ 7.57810651e-02 9.97113610e-01 -4.65600769e-03 7.09697185e+00] [ 7.78569618e-02 -1.26185485e-03 9.96963741e-01 9.04292096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:125.07, Y:7.10, Z:9.05 [[ 9.93577489e-01 -8.22343366e-02 -7.77257179e-02 1.25065214e+02] [ 8.21184438e-02 9.96611535e-01 -4.69151266e-03 7.09529296e+00] [ 7.78481505e-02 -1.72133363e-03 9.96963742e-01 9.04871269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:125.12, Y:7.09, Z:9.05 [[ 9.93050732e-01 -8.83703874e-02 -7.77233461e-02 1.25123956e+02] [ 8.82701912e-02 9.96085336e-01 -4.73048384e-03 7.09001256e+00] [ 7.78371200e-02 -2.16304418e-03 9.96963743e-01 9.05353329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88863999999998 meters Centerline goodness : 0.997788 with order 1 Centerline is valid? [True, True] Translation: X:125.18, Y:7.09, Z:9.09 [[ 9.93119201e-01 -8.75993911e-02 -7.77212925e-02 1.25181976e+02] [ 8.74942188e-02 9.96153636e-01 -4.76398842e-03 7.08557388e+00] [ 7.78396705e-02 -2.06895540e-03 9.96963743e-01 9.08611259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94863999999998 meters Centerline goodness : 0.997592 with order 1 Centerline is valid? [True, True] Translation: X:125.24, Y:7.08, Z:9.09 [[ 9.93766160e-01 -7.99264813e-02 -7.77211468e-02 1.25240937e+02] [ 7.97976901e-02 9.96799684e-01 -4.76636369e-03 7.08420395e+00] [ 7.78533732e-02 -1.46531705e-03 9.96963743e-01 9.09094029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00863999999999 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:125.30, Y:7.09, Z:9.09 [[ 9.94206386e-01 -7.42523462e-02 -7.77190479e-02 1.25300433e+02] [ 7.41035844e-02 9.97238996e-01 -4.80034548e-03 7.08637013e+00] [ 7.78609023e-02 -9.86725894e-04 9.96963744e-01 9.09069679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:125.36, Y:7.09, Z:9.07 [[ 9.94647712e-01 -6.80865661e-02 -7.77183935e-02 1.25360648e+02] [ 6.79181781e-02 9.97679295e-01 -4.81091759e-03 7.09267527e+00] [ 7.78655909e-02 -4.93323517e-04 9.96963744e-01 9.07285797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12864 meters Centerline goodness : 0.997247 with order 1 Centerline is valid? [True, True] Translation: X:125.42, Y:7.10, Z:9.10 [[ 9.94656970e-01 -6.79537114e-02 -7.77161797e-02 1.25417723e+02] [ 6.77821448e-02 9.97688375e-01 -4.84641820e-03 7.09730681e+00] [ 7.78658611e-02 -4.47245697e-04 9.96963744e-01 9.10280288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18864 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:125.48, Y:7.10, Z:9.11 [[ 9.94780418e-01 -6.61243973e-02 -7.77141190e-02 1.25477292e+02] [ 6.59446919e-02 9.97811350e-01 -4.87924103e-03 7.10452386e+00] [ 7.78666669e-02 -2.71060206e-04 9.96963745e-01 9.10608671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24864 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:125.54, Y:7.11, Z:9.09 [[ 9.95002961e-01 -6.26871098e-02 -7.77137953e-02 1.25537402e+02] [ 6.24965316e-02 9.98033229e-01 -4.88439196e-03 7.11034084e+00] [ 7.78671384e-02 3.14180323e-06 9.96963745e-01 9.08744207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.30864 meters Centerline goodness : 0.997839 with order 1 Centerline is valid? [True, True] Translation: X:125.59, Y:7.12, Z:9.11 [[ 9.95117136e-01 -6.08506892e-02 -7.77115156e-02 1.25593436e+02] [ 6.06517070e-02 9.98146863e-01 -4.92039774e-03 7.11609166e+00] [ 7.78669151e-02 1.83036038e-04 9.96963746e-01 9.11483113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36864 meters Centerline goodness : 0.997691 with order 1 Centerline is valid? [True, True] Translation: X:125.65, Y:7.12, Z:9.11 [[ 9.95364698e-01 -5.66583055e-02 -7.77107061e-02 1.25652412e+02] [ 5.64455672e-02 9.98393491e-01 -4.93314864e-03 7.12410119e+00] [ 7.78653670e-02 5.23857126e-04 9.96963746e-01 9.11357728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42864 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:125.71, Y:7.13, Z:9.10 [[ 9.95345612e-01 -5.69944123e-02 -7.77093918e-02 1.25712054e+02] [ 5.67810871e-02 9.98374363e-01 -4.95376650e-03 7.13268319e+00] [ 7.78654015e-02 5.18286006e-04 9.96963746e-01 9.10042806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48864 meters Centerline goodness : 0.997986 with order 1 Centerline is valid? [True, True] Translation: X:125.77, Y:7.14, Z:9.12 [[ 9.95392707e-01 -5.61668481e-02 -7.77087135e-02 1.25768766e+02] [ 5.59501759e-02 9.98421220e-01 -4.96438387e-03 7.14219594e+00] [ 7.78648624e-02 5.93695309e-04 9.96963746e-01 9.12465032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54864 meters Centerline goodness : 0.998183 with order 1 Centerline is valid? [True, True] Translation: X:125.83, Y:7.15, Z:9.13 [[ 9.95191887e-01 -5.96223264e-02 -7.77064085e-02 1.25826556e+02] [ 5.94133729e-02 9.98220942e-01 -5.00020669e-03 7.14831422e+00] [ 7.78662882e-02 3.59365312e-04 9.96963747e-01 9.13024351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60863999999998 meters Centerline goodness : 0.998183 with order 1 Centerline is valid? [True, True] Translation: X:125.89, Y:7.15, Z:9.14 [[ 9.94288939e-01 -7.31545714e-02 -7.77040185e-02 1.25885133e+02] [ 7.29839608e-02 9.97320395e-01 -5.03707616e-03 7.15145964e+00] [ 7.78642875e-02 -6.62837926e-04 9.96963747e-01 9.13530660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66863999999998 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:125.95, Y:7.15, Z:9.12 [[ 9.93885847e-01 -7.84434863e-02 -7.77016214e-02 1.25945506e+02] [ 7.82861369e-02 9.96918019e-01 -5.07378707e-03 7.15332812e+00] [ 7.78601521e-02 -1.04019461e-03 9.96963748e-01 9.12115958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72863999999998 meters Centerline goodness : 0.996707 with order 1 Centerline is valid? [True, True] Translation: X:126.00, Y:7.16, Z:9.15 [[ 9.94006570e-01 -7.69010822e-02 -7.76991817e-02 1.26002121e+02] [ 7.67361287e-02 9.97038337e-01 -5.11087818e-03 7.15744131e+00] [ 7.78620949e-02 -8.82087913e-04 9.96963749e-01 9.14805292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:126.06, Y:7.16, Z:9.13 [[ 9.94061440e-01 -7.61891929e-02 -7.76985270e-02 1.26062980e+02] [ 7.60212918e-02 9.97093045e-01 -5.12081228e-03 7.16148246e+00] [ 7.78628114e-02 -8.16340360e-04 9.96963749e-01 9.12963386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:126.12, Y:7.17, Z:9.13 [[ 9.94139329e-01 -7.51663865e-02 -7.76981953e-02 1.26121469e+02] [ 7.49949735e-02 9.97170737e-01 -5.12584013e-03 7.16662894e+00] [ 7.78636576e-02 -7.31174823e-04 9.96963749e-01 9.13432155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.18, Y:7.17, Z:9.14 [[ 9.94010596e-01 -7.68523807e-02 -7.76958590e-02 1.26180083e+02] [ 7.66833604e-02 9.97042139e-01 -5.16101143e-03 7.17017220e+00] [ 7.78626815e-02 -8.27879512e-04 9.96963749e-01 9.13791150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96864 meters Centerline goodness : 0.997534 with order 1 Centerline is valid? [True, True] Translation: X:126.24, Y:7.17, Z:9.17 [[ 9.93984033e-01 -7.71975553e-02 -7.76935030e-02 1.26237699e+02] [ 7.70268345e-02 9.97015479e-01 -5.19623904e-03 7.17452737e+00] [ 7.78627621e-02 -8.19505960e-04 9.96963750e-01 9.16627509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:126.30, Y:7.17, Z:9.15 [[ 9.93699966e-01 -8.07720390e-02 -7.76933371e-02 1.26298943e+02] [ 8.06120284e-02 9.96731997e-01 -5.19871917e-03 7.17494170e+00] [ 7.78593462e-02 -1.09705043e-03 9.96963750e-01 9.14990009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08864 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:126.36, Y:7.17, Z:9.15 [[ 9.93576827e-01 -8.22732528e-02 -7.76929953e-02 1.26357304e+02] [ 8.21174243e-02 9.96609075e-01 -5.20382213e-03 7.17408242e+00] [ 7.78576795e-02 -1.20955158e-03 9.96963750e-01 9.15391151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:126.42, Y:7.17, Z:9.16 [[ 9.93619527e-01 -8.17584641e-02 -7.76903431e-02 1.26416220e+02] [ 8.15979924e-02 9.96651533e-01 -5.24312209e-03 7.17116764e+00] [ 7.78588691e-02 -1.12970753e-03 9.96963751e-01 9.15836260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:126.47, Y:7.17, Z:9.16 [[ 9.93955147e-01 -7.75740946e-02 -7.76880021e-02 1.26474767e+02] [ 7.73981648e-02 9.96986294e-01 -5.27758215e-03 7.16790342e+00] [ 7.78632770e-02 -7.67228853e-04 9.96963751e-01 9.16190214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:126.53, Y:7.17, Z:9.17 [[ 9.93995503e-01 -7.70580142e-02 -7.76852720e-02 1.26533695e+02] [ 7.68773935e-02 9.97026374e-01 -5.31746889e-03 7.16665633e+00] [ 7.78640187e-02 -6.86701062e-04 9.96963752e-01 9.16671500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:126.59, Y:7.16, Z:9.17 [[ 9.93611577e-01 -8.18621377e-02 -7.76828511e-02 1.26592282e+02] [ 8.16934240e-02 9.96643133e-01 -5.35260499e-03 7.16165078e+00] [ 7.78602557e-02 -1.02776780e-03 9.96963753e-01 9.17203208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38863999999998 meters Centerline goodness : 0.998378 with order 1 Centerline is valid? [True, True] Translation: X:126.65, Y:7.16, Z:9.20 [[ 9.93178190e-01 -8.69645945e-02 -7.76803878e-02 1.26649195e+02] [ 8.68086773e-02 9.96210430e-01 -5.38811915e-03 7.15857658e+00] [ 7.78545881e-02 -1.39196929e-03 9.96963753e-01 9.20107527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44863999999998 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:126.71, Y:7.15, Z:9.20 [[ 9.93154268e-01 -8.72379750e-02 -7.76796981e-02 1.26708491e+02] [ 8.70821164e-02 9.96186512e-01 -5.39804339e-03 7.15437732e+00] [ 7.78543819e-02 -1.40342269e-03 9.96963753e-01 9.20469457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:126.77, Y:7.15, Z:9.19 [[ 9.93524801e-01 -8.29138918e-02 -7.76772548e-02 1.26768943e+02] [ 8.27421045e-02 9.96556184e-01 -5.43297661e-03 7.15349998e+00] [ 7.78602179e-02 -1.02938253e-03 9.96963754e-01 9.18664255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.83, Y:7.16, Z:9.19 [[ 9.94029566e-01 -7.66280025e-02 -7.76747827e-02 1.26827604e+02] [ 7.64343004e-02 9.97059626e-01 -5.46809478e-03 7.15551862e+00] [ 7.78653989e-02 -5.01569792e-04 9.96963755e-01 9.19170390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.88, Y:7.16, Z:9.20 [[ 9.94552251e-01 -6.95186123e-02 -7.76722718e-02 1.26884993e+02] [ 6.93004823e-02 9.97580651e-01 -5.50353165e-03 7.16206601e+00] [ 7.78669533e-02 9.08239018e-05 9.96963755e-01 9.19616554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:126.94, Y:7.17, Z:9.20 [[ 9.94843961e-01 -6.52147895e-02 -7.76693343e-02 1.26942926e+02] [ 6.49803458e-02 9.97871140e-01 -5.54468092e-03 7.16849292e+00] [ 7.78655823e-02 4.69112125e-04 9.96963756e-01 9.20051635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.00, Y:7.18, Z:9.21 [[ 9.95071727e-01 -6.16452310e-02 -7.76667531e-02 1.27001252e+02] [ 6.13971247e-02 9.98097816e-01 -5.58060535e-03 7.17949369e+00] [ 7.78630343e-02 7.84587281e-04 9.96963757e-01 9.20577889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.06, Y:7.19, Z:9.21 [[ 9.95069714e-01 -6.16809869e-02 -7.76641497e-02 1.27059118e+02] [ 6.14301799e-02 9.98095580e-01 -5.61660419e-03 7.19019374e+00] [ 7.78626822e-02 8.17990033e-04 9.96963757e-01 9.20972018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86864 meters Centerline goodness : 0.998477 with order 1 Centerline is valid? [True, True] Translation: X:127.12, Y:7.20, Z:9.24 [[ 9.94749688e-01 -6.66464322e-02 -7.76615219e-02 1.27115422e+02] [ 6.64079113e-02 9.97776546e-01 -5.65270790e-03 7.19915365e+00] [ 7.78655779e-02 4.65689962e-04 9.96963758e-01 9.23901581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92864 meters Centerline goodness : 0.998524 with order 1 Centerline is valid? [True, True] Translation: X:127.17, Y:7.21, Z:9.24 [[ 9.94391018e-01 -7.18004690e-02 -7.76607710e-02 1.27173782e+02] [ 7.15768327e-02 9.97419013e-01 -5.66300550e-03 7.20522259e+00] [ 7.78669360e-02 7.25297921e-05 9.96963758e-01 9.24363273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98864 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:127.23, Y:7.21, Z:9.25 [[ 9.94169570e-01 -7.48070311e-02 -7.76580595e-02 1.27232365e+02] [ 7.45896662e-02 9.97198021e-01 -5.69994853e-03 7.21043226e+00] [ 7.78668594e-02 -1.25773357e-04 9.96963759e-01 9.24538155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04864 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:127.29, Y:7.21, Z:9.25 [[ 9.93987445e-01 -7.71920369e-02 -7.76553197e-02 1.27290547e+02] [ 7.69790412e-02 9.97016205e-01 -5.73703463e-03 7.21437596e+00] [ 7.78664656e-02 -2.75291664e-04 9.96963759e-01 9.25341450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.35, Y:7.22, Z:9.23 [[ 9.94047491e-01 -7.64176563e-02 -7.76526106e-02 1.27350805e+02] [ 7.61994547e-02 9.97075880e-01 -5.77347236e-03 7.21722323e+00] [ 7.78667403e-02 -1.77980869e-04 9.96963760e-01 9.23482329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16863999999998 meters Centerline goodness : 0.997299 with order 1 Centerline is valid? [True, True] Translation: X:127.41, Y:7.22, Z:9.26 [[ 9.94231045e-01 -7.39940517e-02 -7.76499121e-02 1.27407523e+02] [ 7.37656508e-02 9.97258682e-01 -5.80954052e-03 7.22060845e+00] [ 7.78669205e-02 4.81292374e-05 9.96963761e-01 9.26361893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:127.47, Y:7.22, Z:9.24 [[ 9.94084090e-01 -7.59455696e-02 -7.76472254e-02 1.27467976e+02] [ 7.57203245e-02 9.97111962e-01 -5.84523173e-03 7.22425483e+00] [ 7.78668967e-02 -6.88212291e-05 9.96963761e-01 9.24435362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28864 meters Centerline goodness : 0.997779 with order 1 Centerline is valid? [True, True] Translation: X:127.52, Y:7.23, Z:9.27 [[ 9.94256649e-01 -7.36549187e-02 -7.76444982e-02 1.27524767e+02] [ 7.34198860e-02 9.97283777e-01 -5.88123647e-03 7.23070921e+00] [ 7.78667804e-02 1.46808266e-04 9.96963762e-01 9.27172658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34864 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:127.58, Y:7.23, Z:9.28 [[ 9.94129302e-01 -7.53570679e-02 -7.76417578e-02 1.27583143e+02] [ 7.51244099e-02 9.97156612e-01 -5.91719495e-03 7.23480746e+00] [ 7.78668947e-02 4.96656484e-05 9.96963763e-01 9.27594370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40864 meters Centerline goodness : 0.909042 with order 3 Centerline is valid? [True, False] Translation: X:127.58, Y:7.26, Z:9.28 [[ 9.93929472e-01 -7.16071511e-02 -8.35261640e-02 1.27582071e+02] [ 6.82845587e-02 9.96782139e-01 -4.19831780e-02 7.26238287e+00] [ 8.62636842e-02 3.60247707e-02 9.95620808e-01 9.28481519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [False, True] Translation: X:127.62, Y:7.29, Z:9.29 [[ 9.93109191e-01 -6.36984391e-02 -9.83699353e-02 1.27621359e+02] [ 5.74285549e-02 9.96211280e-01 -6.53073304e-02 7.28508512e+00] [ 1.02157214e-01 5.92080668e-02 9.93004687e-01 9.29386783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52864 meters Centerline goodness : 0.996214 with order 1 Centerline is valid? [True, True] Translation: X:127.68, Y:7.24, Z:9.32 [[ 9.93430965e-01 -5.18438410e-02 -1.02015361e-01 1.27680852e+02] [ 5.15050094e-02 9.98654985e-01 -5.95438850e-03 7.24206562e+00] [ 1.02186848e-01 6.60971770e-04 9.94765003e-01 9.31720572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:127.74, Y:7.25, Z:9.30 [[ 9.93376799e-01 -5.28730620e-02 -1.02014582e-01 1.27740833e+02] [ 5.25382739e-02 9.98601080e-01 -5.96772001e-03 7.25222937e+00] [ 1.02187403e-01 5.68524567e-04 9.94765003e-01 9.30059547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64864 meters Centerline goodness : 0.998182 with order 1 Centerline is valid? [True, True] Translation: X:127.80, Y:7.26, Z:9.33 [[ 9.93023519e-01 -5.91428468e-02 -1.02011839e-01 1.27797400e+02] [ 5.88362645e-02 9.98249529e-01 -6.01424884e-03 7.25725131e+00] [ 1.02188970e-01 -2.97049674e-05 9.94765004e-01 9.32598667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70864 meters Centerline goodness : 0.997396 with order 1 Centerline is valid? [True, True] Translation: X:127.86, Y:7.26, Z:9.34 [[ 9.92731265e-01 -6.38654337e-02 -1.02009025e-01 1.27855434e+02] [ 6.35788468e-02 9.97958410e-01 -6.06159704e-03 7.26290140e+00] [ 1.02187891e-01 -4.68079290e-04 9.94765005e-01 9.33732062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:127.92, Y:7.27, Z:9.32 [[ 9.92595399e-01 -6.59477429e-02 -1.02006224e-01 1.27916534e+02] [ 6.56673146e-02 9.97822876e-01 -6.10837410e-03 7.26565999e+00] [ 1.02186977e-01 -6.35330782e-04 9.94765006e-01 9.31854051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82863999999998 meters Centerline goodness : 0.997644 with order 1 Centerline is valid? [True, True] Translation: X:127.97, Y:7.27, Z:9.35 [[ 9.92444879e-01 -6.81796662e-02 -1.02003409e-01 1.27971274e+02] [ 6.79061984e-02 9.97672724e-01 -6.15503372e-03 7.26983369e+00] [ 1.02185667e-01 -8.18132012e-04 9.94765008e-01 9.34754343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88863999999998 meters Centerline goodness : 0.998178 with order 1 Centerline is valid? [True, True] Translation: X:128.03, Y:7.27, Z:9.35 [[ 9.92292127e-01 -7.03725659e-02 -1.02000181e-01 1.28029772e+02] [ 7.01052005e-02 9.97520286e-01 -6.20806260e-03 7.27042892e+00] [ 1.02184127e-01 -9.90531524e-04 9.94765009e-01 9.35370043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94863999999998 meters Centerline goodness : 0.833842 with order 3 Centerline is valid? [True, False] Translation: X:128.07, Y:7.29, Z:9.36 [[ 9.91675766e-01 -5.79213638e-02 -1.14996917e-01 1.28071656e+02] [ 5.54469427e-02 9.98158460e-01 -2.46033547e-02 7.28727995e+00] [ 1.16210205e-01 1.80223232e-02 9.93061118e-01 9.35938885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00863999999999 meters Centerline goodness : 0.998184 with order 1 Centerline is valid? [False, True] Translation: X:128.12, Y:7.30, Z:9.37 [[ 9.90617813e-01 -4.59172908e-02 -1.28716552e-01 1.28115290e+02] [ 4.05828602e-02 9.98217223e-01 -4.37653605e-02 7.30444904e+00] [ 1.30496666e-01 3.81310599e-02 9.90715218e-01 9.36688088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06864 meters Centerline goodness : 0.998034 with order 1 Centerline is valid? [True, True] Translation: X:128.18, Y:7.27, Z:9.37 [[ 9.90731746e-01 -3.88589828e-02 -1.30156007e-01 1.28176109e+02] [ 3.86110637e-02 9.99244501e-01 -4.42867233e-03 7.27324561e+00] [ 1.30229768e-01 -6.37835613e-04 9.91483636e-01 9.37306676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12864 meters Centerline goodness : 0.996955 with order 1 Centerline is valid? [True, True] Translation: X:128.23, Y:7.27, Z:9.38 [[ 9.90821730e-01 -3.64931766e-02 -1.30155861e-01 1.28233470e+02] [ 3.62243679e-02 9.99333850e-01 -4.43296083e-03 7.27386474e+00] [ 1.30230931e-01 -3.22539880e-04 9.91483636e-01 9.38374423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18864 meters Centerline goodness : 0.998577 with order 1 Centerline is valid? [True, True] Translation: X:128.29, Y:7.28, Z:9.39 [[ 9.90905605e-01 -3.41428068e-02 -1.30155105e-01 1.28292409e+02] [ 3.38509069e-02 9.99416964e-01 -4.45504629e-03 7.27764448e+00] [ 1.30231328e-01 8.66199966e-06 9.91483636e-01 9.38684019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24864 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:128.35, Y:7.28, Z:9.39 [[ 9.91058344e-01 -2.93862588e-02 -1.30153011e-01 1.28350497e+02] [ 2.90455796e-02 9.99567889e-01 -4.51542882e-03 7.28258462e+00] [ 1.30229462e-01 6.94683776e-04 9.91483638e-01 9.39470325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30864 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:128.41, Y:7.29, Z:9.40 [[ 9.91108025e-01 -2.76701084e-02 -1.30150869e-01 1.28409064e+02] [ 2.73066955e-02 9.99616627e-01 -4.57634616e-03 7.28628764e+00] [ 1.30227601e-01 9.81663254e-04 9.91483640e-01 9.40223951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36864 meters Centerline goodness : 0.889958 with order 3 Centerline is valid? [True, False] Translation: X:128.40, Y:7.32, Z:9.41 [[ 9.90627716e-01 -2.77287002e-02 -1.33745461e-01 1.28403127e+02] [ 2.22958019e-02 9.98870932e-01 -4.19494855e-02 7.31607811e+00] [ 1.34757658e-01 3.85743607e-02 9.90127463e-01 9.41027344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42864 meters Centerline goodness : 0.990279 with order 1 Centerline is valid? [False, True] Translation: X:128.37, Y:7.34, Z:9.41 [[ 9.91870240e-01 -2.92263204e-02 -1.23851719e-01 1.28368823e+02] [ 2.01756818e-02 9.97075564e-01 -7.37106566e-02 7.33787832e+00] [ 1.25643814e-01 7.06126138e-02 9.89559241e-01 9.41252969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.48864 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:128.43, Y:7.30, Z:9.42 [[ 9.91843086e-01 3.73064166e-02 -1.21883240e-01 1.28426294e+02] [-3.71351925e-02 9.99303487e-01 3.67686512e-03 7.29934641e+00] [ 1.21935517e-01 8.79284326e-04 9.92537635e-01 9.41934777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54864 meters Centerline goodness : 0.948138 with order 3 Centerline is valid? [True, False] Translation: X:128.41, Y:7.30, Z:9.42 [[ 9.93879519e-01 2.01684561e-02 -1.08612774e-01 1.28413898e+02] [-2.02478662e-02 9.99794922e-01 3.71783802e-04 7.29875211e+00] [ 1.08597998e-01 1.82966860e-03 9.94084064e-01 9.41582063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60863999999998 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [False, True] Translation: X:128.40, Y:7.29, Z:9.41 [[ 9.95399897e-01 8.85412345e-03 -9.53973220e-02 1.28402508e+02] [-8.59554708e-03 9.99958187e-01 3.12112062e-03 7.29280101e+00] [ 9.54209679e-02 -2.28677097e-03 9.95434382e-01 9.41402464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:128.46, Y:7.30, Z:9.40 [[ 9.95399960e-01 8.75071212e-03 -9.54062087e-02 1.28462635e+02] [-8.76338589e-03 9.99961560e-01 2.86163583e-04 7.29697401e+00] [ 9.54050454e-02 5.51234204e-04 9.95438383e-01 9.39766205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72863999999998 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:128.52, Y:7.30, Z:9.40 [[ 9.95372816e-01 1.14274837e-02 -9.54063360e-02 1.28521350e+02] [-1.14573889e-02 9.99934335e-01 2.34364017e-04 7.29940285e+00] [ 9.54027493e-02 8.59827925e-04 9.95438384e-01 9.40304700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:128.58, Y:7.30, Z:9.41 [[ 9.95374147e-01 1.13102317e-02 -9.54064236e-02 1.28579616e+02] [-1.13437969e-02 9.99935639e-01 1.90570057e-04 7.30108119e+00] [ 9.54024385e-02 8.92582586e-04 9.95438385e-01 9.41047014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:128.64, Y:7.30, Z:9.42 [[ 9.95394590e-01 9.33876079e-03 -9.54064911e-02 1.28638655e+02] [-9.36749388e-03 9.99956113e-01 1.46721840e-04 7.30389480e+00] [ 9.54036743e-02 7.47673596e-04 9.95438386e-01 9.41596636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.70, Y:7.31, Z:9.42 [[ 9.95404420e-01 8.22406529e-03 -9.54065222e-02 1.28696632e+02] [-8.25000169e-03 9.99965961e-01 1.22603742e-04 7.30806327e+00] [ 9.54042829e-02 6.65063662e-04 9.95438386e-01 9.42221750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:128.75, Y:7.31, Z:9.44 [[ 9.95395172e-01 9.27574839e-03 -9.54065604e-02 1.28754521e+02] [-9.31132406e-03 9.99956646e-01 7.23139677e-05 7.31011983e+00] [ 9.54030949e-02 8.16380427e-04 9.95438387e-01 9.44400173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:128.81, Y:7.32, Z:9.45 [[ 9.95407424e-01 7.85166218e-03 -9.54065647e-02 1.28813649e+02] [-7.88130993e-03 9.99968940e-01 6.60739829e-05 7.31559279e+00] [ 9.54041202e-02 6.86158173e-04 9.95438387e-01 9.45327569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08864 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:128.87, Y:7.32, Z:9.47 [[ 9.95415323e-01 6.77652742e-03 -9.54065687e-02 1.28872165e+02] [-6.80185898e-03 9.99976865e-01 5.97023366e-05 7.31566632e+00] [ 9.54047661e-02 5.89513406e-04 9.95438387e-01 9.46568827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:128.93, Y:7.32, Z:9.47 [[ 9.95432413e-01 3.44909054e-03 -9.54065723e-02 1.28932265e+02] [-3.45979783e-03 9.99994013e-01 5.31933553e-05 7.31634151e+00] [ 9.54061846e-02 2.77137062e-04 9.95438387e-01 9.46556169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:128.99, Y:7.32, Z:9.45 [[ 9.95433894e-01 -2.99153224e-03 -9.54065740e-02 1.28993261e+02] [ 3.01003435e-03 9.99995469e-01 5.00125927e-05 7.31573526e+00] [ 9.54059921e-02 -3.36961295e-04 9.95438387e-01 9.44924391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26864 meters Centerline goodness : 0.938808 with order 3 Centerline is valid? [True, False] Translation: X:129.01, Y:7.34, Z:9.46 [[ 9.94948016e-01 -6.95350687e-03 -1.00150355e-01 1.29006227e+02] [ 3.69568986e-03 9.99459095e-01 -3.26781307e-02 7.34171875e+00] [ 1.00323411e-01 3.21429167e-02 9.94435542e-01 9.46105092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32863999999998 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [False, True] Translation: X:129.01, Y:7.35, Z:9.46 [[ 9.95211747e-01 -1.01002713e-03 -9.77371903e-02 1.29010411e+02] [-3.49839510e-03 9.98937815e-01 -4.59456444e-02 7.34695222e+00] [ 9.76797817e-02 4.60675684e-02 9.94151115e-01 9.45985823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.07, Y:7.30, Z:9.43 [[ 9.95261779e-01 6.58219657e-04 -9.72294058e-02 1.29072361e+02] [-5.37376911e-04 9.99999050e-01 1.26904335e-03 7.30132155e+00] [ 9.72301488e-02 -1.21078150e-03 9.95261188e-01 9.43094589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44863999999998 meters Centerline goodness : 0.998036 with order 1 Centerline is valid? [True, True] Translation: X:129.13, Y:7.30, Z:9.46 [[ 9.95261989e-01 3.60150872e-06 -9.72294865e-02 1.29129476e+02] [ 1.19749993e-04 9.99999195e-01 1.26282805e-03 7.29605776e+00] [ 9.72294128e-02 -1.26848798e-03 9.95261188e-01 9.46307612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50863999999999 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:129.19, Y:7.29, Z:9.47 [[ 9.95255229e-01 -3.66565888e-03 -9.72295841e-02 1.29187957e+02] [ 3.80573639e-03 9.99991970e-01 1.25527224e-03 7.28832206e+00] [ 9.72242019e-02 -1.61934643e-03 9.95261188e-01 9.46653189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.25, Y:7.28, Z:9.45 [[ 9.95246359e-01 -5.56655436e-03 -9.72301271e-02 1.29249921e+02] [ 5.71142344e-03 9.99982956e-01 1.21170169e-03 7.28365876e+00] [ 9.72217249e-02 -1.76126412e-03 9.95261189e-01 9.44594182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.31, Y:7.28, Z:9.45 [[ 9.95247008e-01 -5.44795682e-03 -9.72302039e-02 1.29308193e+02] [ 5.59165695e-03 9.99983640e-01 1.20551179e-03 7.27757211e+00] [ 9.72220456e-02 -1.74345994e-03 9.95261189e-01 9.45128028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68864 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:129.36, Y:7.27, Z:9.48 [[ 9.95258373e-01 -2.63798328e-03 -9.72307153e-02 1.29364835e+02] [ 2.76413353e-03 9.99995504e-01 1.16275623e-03 7.27063448e+00] [ 9.72272108e-02 -1.42600156e-03 9.95261190e-01 9.47999433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:129.42, Y:7.27, Z:9.49 [[ 9.95252744e-01 4.25124512e-03 -9.72311783e-02 1.29423770e+02] [-4.16180470e-03 9.99990709e-01 1.12266540e-03 7.26885262e+00] [ 9.72350477e-02 -7.12678646e-04 9.95261191e-01 9.48569126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.48, Y:7.27, Z:9.47 [[ 9.95240335e-01 6.53281330e-03 -9.72316703e-02 1.29483974e+02] [-6.45856870e-03 9.99978562e-01 1.07830265e-03 7.26815160e+00] [ 9.72366302e-02 -4.45192870e-04 9.95261192e-01 9.46960879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86864 meters Centerline goodness : 0.999262 with order 1 Centerline is valid? [True, True] Translation: X:129.54, Y:7.27, Z:9.50 [[ 9.95245381e-01 5.70969431e-03 -9.72318451e-02 1.29540040e+02] [-5.63309373e-03 9.99983570e-01 1.06230608e-03 7.26910647e+00] [ 9.72363130e-02 -5.09539119e-04 9.95261192e-01 9.49865836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92864 meters Centerline goodness : 0.998866 with order 1 Centerline is valid? [True, True] Translation: X:129.60, Y:7.27, Z:9.50 [[ 9.95235983e-01 7.15648860e-03 -9.72323158e-02 1.29599118e+02] [-7.09117011e-03 9.99974340e-01 1.01732959e-03 7.27224542e+00] [ 9.72371013e-02 -3.22992127e-04 9.95261193e-01 9.50340721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.66, Y:7.28, Z:9.49 [[ 9.95237724e-01 6.90413033e-03 -9.72327392e-02 1.29660455e+02] [-6.84173449e-03 9.99976120e-01 9.75115915e-04 7.28121096e+00] [ 9.72371496e-02 -3.05231559e-04 9.95261194e-01 9.48578828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04864 meters Centerline goodness : 0.996954 with order 1 Centerline is valid? [True, True] Translation: X:129.72, Y:7.29, Z:9.52 [[ 9.95260255e-01 1.67336460e-03 -9.72328377e-02 1.29717063e+02] [-1.58703512e-03 9.99998275e-01 9.65195833e-04 7.28720543e+00] [ 9.72342851e-02 -8.06309122e-04 9.95261194e-01 9.52394847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10863999999998 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:129.78, Y:7.29, Z:9.52 [[ 9.95257249e-01 -2.96217606e-03 -9.72328810e-02 1.29777450e+02] [ 3.07014474e-03 9.99994826e-01 9.60817788e-04 7.28897511e+00] [ 9.72295317e-02 -1.25477989e-03 9.95261194e-01 9.52303578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:129.84, Y:7.29, Z:9.50 [[ 9.95224607e-01 -8.58740594e-03 -9.72329055e-02 1.29838315e+02] [ 8.72190713e-03 9.99961504e-01 9.58330324e-04 7.29085653e+00] [ 9.72209329e-02 -1.80181029e-03 9.95261194e-01 9.50428292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22863999999998 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:129.89, Y:7.29, Z:9.53 [[ 9.95217345e-01 -9.38714646e-03 -9.72333158e-02 1.29894132e+02] [ 9.52119520e-03 9.99954254e-01 9.14723241e-04 7.29079704e+00] [ 9.72202811e-02 -1.83612581e-03 9.95261195e-01 9.53309853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:129.95, Y:7.28, Z:9.53 [[ 9.94747246e-01 -3.19926480e-02 -9.72336708e-02 1.29953501e+02] [ 3.22304213e-02 9.99480082e-01 8.75296964e-04 7.27982361e+00] [ 9.71551142e-02 -4.00458142e-03 9.95261195e-01 9.53322057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.01, Y:7.29, Z:9.52 [[ 9.95207777e-01 -1.03451093e-02 -9.72340462e-02 1.30013622e+02] [ 1.04755802e-02 9.99944784e-01 8.31404168e-04 7.29054777e+00] [ 9.72200764e-02 -1.84600294e-03 9.95261196e-01 9.52179629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.07, Y:7.29, Z:9.53 [[ 9.95183506e-01 -1.24604160e-02 -9.72343936e-02 1.30071801e+02] [ 1.25967727e-02 9.99920347e-01 7.88578541e-04 7.29070399e+00] [ 9.72168226e-02 -2.00961991e-03 9.95261197e-01 9.52835322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:130.13, Y:7.29, Z:9.53 [[ 9.95160999e-01 -1.41419506e-02 -9.72347186e-02 1.30130395e+02] [ 1.42821764e-02 9.99897726e-01 7.46242388e-04 7.28884363e+00] [ 9.72142207e-02 -2.13135472e-03 9.95261198e-01 9.53413087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52864 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:130.19, Y:7.29, Z:9.54 [[ 9.95163271e-01 -1.39790326e-02 -9.72350237e-02 1.30187704e+02] [ 1.41143693e-02 9.99900139e-01 7.04121782e-04 7.28792600e+00] [ 9.72154708e-02 -2.07312717e-03 9.95261199e-01 9.54087821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:130.25, Y:7.29, Z:9.55 [[ 9.95140456e-01 -1.55164330e-02 -9.72353504e-02 1.30246032e+02] [ 1.56543580e-02 9.99877248e-01 6.55693889e-04 7.28805114e+00] [ 9.72132405e-02 -2.17466450e-03 9.95261200e-01 9.54567895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:130.30, Y:7.29, Z:9.55 [[ 9.95108785e-01 -1.74281633e-02 -9.72356183e-02 1.30303973e+02] [ 1.75710404e-02 9.99845429e-01 6.13223698e-04 7.28695676e+00] [ 9.72099012e-02 -2.31875527e-03 9.95261201e-01 9.55156256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70864 meters Centerline goodness : 0.995534 with order 1 Centerline is valid? [True, True] Translation: X:130.36, Y:7.29, Z:9.59 [[ 9.95081117e-01 -1.89406872e-02 -9.72359004e-02 1.30361072e+02] [ 1.90860232e-02 9.99817686e-01 5.64680637e-04 7.28576455e+00] [ 9.72074774e-02 -2.41774969e-03 9.95261202e-01 9.58514367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:130.42, Y:7.28, Z:9.56 [[ 9.94959717e-01 -2.45017585e-02 -9.72359220e-02 1.30423420e+02] [ 2.46731972e-02 9.99695413e-01 5.60921485e-04 7.28120490e+00] [ 9.71925617e-02 -2.95721536e-03 9.95261202e-01 9.56364045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82863999999998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:130.48, Y:7.28, Z:9.57 [[ 9.94911518e-01 -2.63864437e-02 -9.72359330e-02 1.30481219e+02] [ 2.65666669e-02 9.99646888e-01 5.59017444e-04 7.27723998e+00] [ 9.71868473e-02 -3.13940754e-03 9.95261202e-01 9.56973498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88863999999998 meters Centerline goodness : 0.997100 with order 1 Centerline is valid? [True, True] Translation: X:130.54, Y:7.27, Z:9.60 [[ 9.94942882e-01 -2.51751252e-02 -9.72361823e-02 1.30538453e+02] [ 2.53449580e-02 9.99678634e-01 5.11648785e-04 7.27310550e+00] [ 9.71920531e-02 -2.97350827e-03 9.95261203e-01 9.59912818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:130.60, Y:7.27, Z:9.58 [[ 9.94885077e-01 -2.73643023e-02 -9.72361978e-02 1.30599702e+02] [ 2.75442675e-02 9.99620455e-01 5.08704179e-04 7.26659775e+00] [ 9.71853719e-02 -3.18440204e-03 9.95261203e-01 9.58101598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00863999999999 meters Centerline goodness : 0.995777 with order 1 Centerline is valid? [True, True] Translation: X:130.66, Y:7.26, Z:9.62 [[ 9.94801109e-01 -3.02632775e-02 -9.72362438e-02 1.30656206e+02] [ 3.04561654e-02 9.99535978e-01 4.99736203e-04 7.26338903e+00] [ 9.71760005e-02 -3.45858126e-03 9.95261203e-01 9.61505712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06864 meters Centerline goodness : 0.997692 with order 1 Centerline is valid? [True, True] Translation: X:130.72, Y:7.26, Z:9.62 [[ 9.94769329e-01 -3.12903949e-02 -9.72362706e-02 1.30715006e+02] [ 3.14876575e-02 9.99504018e-01 4.94470899e-04 7.25720777e+00] [ 9.71725710e-02 -3.55362687e-03 9.95261203e-01 9.61804936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:130.78, Y:7.25, Z:9.60 [[ 9.94919759e-01 -2.60718776e-02 -9.72364659e-02 1.30777892e+02] [ 2.62402065e-02 9.99655564e-01 4.52530699e-04 7.25112156e+00] [ 9.71911758e-02 -3.00173668e-03 9.95261204e-01 9.59740370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:130.84, Y:7.25, Z:9.60 [[ 9.94914653e-01 -2.62659428e-02 -9.72364859e-02 1.30836289e+02] [ 2.64347725e-02 9.99650440e-01 4.48198431e-04 7.24866022e+00] [ 9.71907235e-02 -3.01634357e-03 9.95261204e-01 9.60390195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24864 meters Centerline goodness : 0.998281 with order 1 Centerline is valid? [True, True] Translation: X:130.89, Y:7.24, Z:9.64 [[ 9.94759338e-01 -3.16052362e-02 -9.72366613e-02 1.30892217e+02] [ 3.17953828e-02 9.99494316e-01 4.06225627e-04 7.24174318e+00] [ 9.71746515e-02 -3.49577360e-03 9.95261205e-01 9.63573279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:130.95, Y:7.24, Z:9.62 [[ 9.94892289e-01 -2.70989787e-02 -9.72367103e-02 1.30954211e+02] [ 2.72664960e-02 9.99628122e-01 3.94145478e-04 7.23862204e+00] [ 9.71898692e-02 -3.04343667e-03 9.95261205e-01 9.61630130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:131.01, Y:7.23, Z:9.62 [[ 9.94922784e-01 -2.59551696e-02 -9.72367340e-02 1.31012054e+02] [ 2.61166616e-02 9.99658826e-01 3.88199804e-04 7.23220969e+00] [ 9.71934836e-02 -2.92572771e-03 9.95261205e-01 9.62231663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:131.07, Y:7.23, Z:9.63 [[ 9.94919605e-01 -2.60761378e-02 -9.72369014e-02 1.31070758e+02] [ 2.62335410e-02 9.99655783e-01 3.40428868e-04 7.22808090e+00] [ 9.71945538e-02 -2.88956759e-03 9.95261206e-01 9.62886036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48864 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:131.13, Y:7.22, Z:9.63 [[ 9.94964836e-01 -2.42885583e-02 -9.72370317e-02 1.31128234e+02] [ 2.44332994e-02 9.99701418e-01 2.97907227e-04 7.22253555e+00] [ 9.72007628e-02 -2.67222873e-03 9.95261207e-01 9.63373925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54864 meters Centerline goodness : 0.997887 with order 1 Centerline is valid? [True, True] Translation: X:131.19, Y:7.22, Z:9.66 [[ 9.94970801e-01 -2.40424907e-02 -9.72371566e-02 1.31185801e+02] [ 2.41813085e-02 9.99707558e-01 2.49248097e-04 7.21921253e+00] [ 9.72027278e-02 -2.59931626e-03 9.95261209e-01 9.66387313e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:131.25, Y:7.22, Z:9.65 [[ 9.94959694e-01 -2.44977932e-02 -9.72371633e-02 1.31248199e+02] [ 2.46385190e-02 9.99696395e-01 2.46590579e-04 7.21515796e+00] [ 9.72016007e-02 -2.64112739e-03 9.95261209e-01 9.64528619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66863999999998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:131.31, Y:7.21, Z:9.65 [[ 9.94928858e-01 -2.57196485e-02 -9.72371741e-02 1.31306687e+02] [ 2.58657671e-02 9.99665396e-01 2.42248554e-04 7.20975155e+00] [ 9.71984076e-02 -2.75613418e-03 9.95261209e-01 9.65205090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72863999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:131.37, Y:7.21, Z:9.66 [[ 9.94940690e-01 -2.52574483e-02 -9.72372616e-02 1.31365435e+02] [ 2.53972090e-02 9.99677419e-01 1.99676656e-04 7.20737605e+00] [ 9.72008514e-02 -2.66822149e-03 9.95261209e-01 9.65799308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78864 meters Centerline goodness : 0.997101 with order 1 Centerline is valid? [True, True] Translation: X:131.42, Y:7.21, Z:9.69 [[ 9.95018141e-01 -2.19954805e-02 -9.72373308e-02 1.31422528e+02] [ 2.21155271e-02 9.99755410e-01 1.56832789e-04 7.20666263e+00] [ 9.72100979e-02 -2.30650629e-03 9.95261210e-01 9.69004758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84864 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:131.48, Y:7.21, Z:9.67 [[ 9.95089070e-01 -1.85105976e-02 -9.72373376e-02 1.31484922e+02] [ 1.86136294e-02 9.99826740e-01 1.52500570e-04 7.20847859e+00] [ 9.72176674e-02 -1.96169142e-03 9.95261210e-01 9.67095163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90864 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:131.54, Y:7.21, Z:9.68 [[ 9.95088684e-01 -1.85313412e-02 -9.72373418e-02 1.31542577e+02] [ 1.86342063e-02 9.99826357e-01 1.49783496e-04 7.20899258e+00] [ 9.72176815e-02 -1.96098855e-03 9.95261210e-01 9.67665525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96864 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:131.60, Y:7.21, Z:9.68 [[ 9.95059695e-01 -2.00273233e-02 -9.72373932e-02 1.31601423e+02] [ 2.01324380e-02 9.99797317e-01 9.98944558e-05 7.20881968e+00] [ 9.72156842e-02 -2.05702674e-03 9.95261212e-01 9.68315114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02864 meters Centerline goodness : 0.994548 with order 1 Centerline is valid? [True, True] Translation: X:131.66, Y:7.21, Z:9.72 [[ 9.95021134e-01 -2.18592842e-02 -9.72374185e-02 1.31658116e+02] [ 2.19688976e-02 9.99758653e-01 5.66537499e-05 7.20685384e+00] [ 9.72127121e-02 -2.19257057e-03 9.95261213e-01 9.71603909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08864 meters Centerline goodness : 0.998428 with order 1 Centerline is valid? [True, True] Translation: X:131.72, Y:7.20, Z:9.70 [[ 9.95012233e-01 -2.22607353e-02 -9.72374208e-02 1.31720692e+02] [ 2.23718379e-02 9.99749718e-01 5.23310671e-05 7.20331837e+00] [ 9.72119191e-02 -2.22744987e-03 9.95261213e-01 9.69515412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.14864 meters Centerline goodness : 0.995482 with order 1 Centerline is valid? [True, True] Translation: X:131.78, Y:7.20, Z:9.73 [[ 9.95067446e-01 -1.96382818e-02 -9.72374217e-02 1.31777685e+02] [ 1.97367206e-02 9.99805211e-01 5.05123561e-05 7.19809422e+00] [ 9.72174890e-02 -1.96941103e-03 9.95261213e-01 9.72540004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.20864 meters Centerline goodness : 0.998625 with order 1 Centerline is valid? [True, True] Translation: X:131.84, Y:7.19, Z:9.71 [[ 9.95123180e-01 -1.65752621e-02 -9.72374232e-02 1.31840180e+02] [ 1.66588272e-02 9.99861231e-01 4.75441913e-05 7.19449150e+00] [ 9.72231416e-02 -1.66717375e-03 9.95261213e-01 9.70624738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26864 meters Centerline goodness : 0.998328 with order 1 Centerline is valid? [True, True] Translation: X:131.90, Y:7.19, Z:9.71 [[ 9.95188135e-01 -1.20606892e-02 -9.72374245e-02 1.31898088e+02] [ 1.21224889e-02 9.99926519e-01 4.47792861e-05 7.19067861e+00] [ 9.72297393e-02 -1.22332342e-03 9.95261213e-01 9.71123804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32863999999998 meters Centerline goodness : 0.995577 with order 1 Centerline is valid? [True, True] Translation: X:131.96, Y:7.19, Z:9.74 [[ 9.95250492e-01 -4.61975864e-03 -9.72374215e-02 1.31955179e+02] [ 4.64117886e-03 9.99989230e-01 -5.89628218e-06 7.18782153e+00] [ 9.72364015e-02 -4.45427988e-04 9.95261214e-01 9.74253947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38863999999998 meters Centerline goodness : 0.998378 with order 1 Centerline is valid? [True, True] Translation: X:132.02, Y:7.19, Z:9.72 [[ 9.95257000e-01 -2.89618694e-03 -9.72374211e-02 1.32017592e+02] [ 2.90902402e-03 9.99995769e-01 -9.75108379e-06 7.18692001e+00] [ 9.72370379e-02 -2.73161159e-04 9.95261214e-01 9.72401068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44863999999998 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:132.07, Y:7.18, Z:9.73 [[ 9.95257104e-01 -2.86028157e-03 -9.72374208e-02 1.32074848e+02] [ 2.87267608e-03 9.99995874e-01 -1.25310773e-05 7.18448669e+00] [ 9.72370554e-02 -2.66859969e-04 9.95261214e-01 9.72931151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50863999999999 meters Centerline goodness : 0.995380 with order 1 Centerline is valid? [True, True] Translation: X:132.13, Y:7.18, Z:9.76 [[ 9.95259107e-01 -2.04956088e-03 -9.72373863e-02 1.32131414e+02] [ 2.05301032e-03 9.99997890e-01 -6.45774021e-05 7.18346103e+00] [ 9.72373136e-02 -1.35358110e-04 9.95261215e-01 9.75813789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56864 meters Centerline goodness : 0.998377 with order 1 Centerline is valid? [True, True] Translation: X:132.19, Y:7.18, Z:9.74 [[ 9.95255015e-01 -3.51394751e-03 -9.72373760e-02 1.32192568e+02] [ 3.52309819e-03 9.99993791e-01 -7.75889618e-05 7.18191832e+00] [ 9.72370449e-02 -2.65356020e-04 9.95261215e-01 9.73899781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.62864 meters Centerline goodness : 0.995380 with order 1 Centerline is valid? [True, True] Translation: X:132.25, Y:7.18, Z:9.77 [[ 9.95260961e-01 7.22952045e-04 -9.72373175e-02 1.32249716e+02] [-7.38476560e-04 9.99999720e-01 -1.23667021e-04 7.18096449e+00] [ 9.72372008e-02 1.94888438e-04 9.95261216e-01 9.76989263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68864 meters Centerline goodness : 0.995429 with order 1 Centerline is valid? [True, True] Translation: X:132.31, Y:7.18, Z:9.77 [[ 9.95247318e-01 5.26141039e-03 -9.72373044e-02 1.32308447e+02] [-5.29947829e-03 9.99985949e-01 -1.33231793e-04 7.18193970e+00] [ 9.72352371e-02 6.47905569e-04 9.95261216e-01 9.77312366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74864 meters Centerline goodness : 0.996018 with order 1 Centerline is valid? [True, True] Translation: X:132.37, Y:7.18, Z:9.78 [[ 9.95235349e-01 7.17804940e-03 -9.72372180e-02 1.32367265e+02] [-7.22980917e-03 9.99973848e-01 -1.79971921e-04 7.18279463e+00] [ 9.72333832e-02 8.82120948e-04 9.95261217e-01 9.77811056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80864 meters Centerline goodness : 0.996264 with order 1 Centerline is valid? [True, True] Translation: X:132.43, Y:7.19, Z:9.78 [[ 9.95249468e-01 4.84164089e-03 -9.72371085e-02 1.32425825e+02] [-4.88686277e-03 9.99988033e-01 -2.26915579e-04 7.18522856e+00] [ 9.72348463e-02 7.01022014e-04 9.95261219e-01 9.78460382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86864 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:132.49, Y:7.19, Z:9.77 [[ 9.95260282e-01 1.39299676e-03 -9.72369770e-02 1.32486690e+02] [-1.42636727e-03 9.99998945e-01 -2.73675767e-04 7.18579134e+00] [ 9.72364932e-02 4.11074263e-04 9.95261220e-01 9.76795322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92864 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:132.54, Y:7.18, Z:9.80 [[ 9.95259893e-01 -1.65694915e-03 -9.72368223e-02 1.32543233e+02] [ 1.63351388e-03 9.99998614e-01 -3.20619286e-04 7.18317607e+00] [ 9.72372189e-02 1.60261818e-04 9.95261221e-01 9.79713297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98864 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:132.60, Y:7.18, Z:9.80 [[ 9.95251662e-01 -4.37719599e-03 -9.72366626e-02 1.32601339e+02] [ 4.36253522e-03 9.99990418e-01 -3.63377556e-04 7.17940160e+00] [ 9.72373215e-02 -6.25462490e-05 9.95261222e-01 9.80153414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:132.66, Y:7.18, Z:9.81 [[ 9.95256416e-01 -3.11625584e-03 -9.72365978e-02 1.32660244e+02] [ 3.09396872e-03 9.99995141e-01 -3.79985371e-04 7.17680994e+00] [ 9.72373095e-02 7.73358868e-05 9.95261222e-01 9.80645897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10863999999998 meters Centerline goodness : 0.895753 with order 3 Centerline is valid? [True, False] Translation: X:132.68, Y:7.20, Z:9.81 [[ 9.94071834e-01 3.79405709e-03 -1.08659072e-01 1.32678037e+02] [-7.52403610e-03 9.99395619e-01 -3.39379701e-02 7.20069527e+00] [ 1.08464637e-01 3.45543350e-02 9.93499582e-01 9.81083428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16863999999998 meters Centerline goodness : 0.999360 with order 1 Centerline is valid? [False, True] Translation: X:132.70, Y:7.21, Z:9.82 [[ 9.92647458e-01 3.68378808e-03 -1.20985347e-01 1.32698541e+02] [-1.05905530e-02 9.98346748e-01 -5.64943426e-02 7.21427831e+00] [ 1.20577215e-01 5.73602673e-02 9.91045375e-01 9.81625309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:132.76, Y:7.17, Z:9.81 [[ 9.92662491e-01 8.16023193e-03 -1.20642402e-01 1.32757874e+02] [-8.08200756e-03 9.99966693e-01 1.13769601e-03 7.16618440e+00] [ 1.20647667e-01 -1.54315351e-04 9.92695380e-01 9.81434808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28864 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:132.82, Y:7.16, Z:9.83 [[ 9.92672328e-01 6.85090797e-03 -1.20642919e-01 1.32815046e+02] [-6.77007257e-03 9.99976500e-01 1.07990815e-03 7.16364752e+00] [ 1.20647483e-01 -2.55233622e-04 9.92695381e-01 9.82804308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:132.87, Y:7.16, Z:9.83 [[ 9.92695456e-01 9.49083464e-04 -1.20643405e-01 1.32873676e+02] [-8.31786681e-04 9.99999131e-01 1.02261521e-03 7.15858680e+00] [ 1.20644271e-01 -9.14795895e-04 9.92695383e-01 9.83493909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40864 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:132.93, Y:7.15, Z:9.84 [[ 9.92693265e-01 -2.26764393e-03 -1.20643858e-01 1.32932425e+02] [ 2.40174478e-03 9.99996649e-01 9.66145658e-04 7.14859617e+00] [ 1.20641262e-01 -1.24884204e-03 9.92695384e-01 9.84190987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46864 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:132.99, Y:7.14, Z:9.85 [[ 9.92695389e-01 -9.06644065e-04 -1.20644280e-01 1.32990529e+02] [ 1.02392402e-03 9.99999062e-01 9.10125527e-04 7.14154839e+00] [ 1.20643342e-01 -1.02700799e-03 9.92695386e-01 9.84946888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52864 meters Centerline goodness : 0.997544 with order 1 Centerline is valid? [True, True] Translation: X:133.05, Y:7.13, Z:9.87 [[ 9.92695064e-01 1.17164269e-03 -1.20644677e-01 1.33048826e+02] [-1.07645334e-03 9.99999056e-01 8.54175011e-04 7.13119217e+00] [ 1.20645564e-01 -7.18066953e-04 9.92695388e-01 9.86639039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58864 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:133.11, Y:7.13, Z:9.86 [[ 9.92681326e-01 5.35113806e-03 -1.20644730e-01 1.33109925e+02] [-5.28762596e-03 9.99985662e-01 8.46566500e-04 7.12847275e+00] [ 1.20647530e-01 -2.02446548e-04 9.92695388e-01 9.86365140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:133.17, Y:7.13, Z:9.87 [[ 9.92576363e-01 1.53952624e-02 -1.20644727e-01 1.33169712e+02] [-1.54056166e-02 9.99880968e-01 8.46941219e-04 7.12751760e+00] [ 1.20643406e-01 1.01795258e-03 9.92695388e-01 9.86606584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70864 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:133.23, Y:7.13, Z:9.87 [[ 9.92552034e-01 1.68907200e-02 -1.20644784e-01 1.33228287e+02] [-1.69130675e-02 9.99856612e-01 8.38814154e-04 7.12780262e+00] [ 1.20641653e-01 1.20790668e-03 9.92695388e-01 9.87421165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76864 meters Centerline goodness : 0.998133 with order 1 Centerline is valid? [True, True] Translation: X:133.29, Y:7.13, Z:9.88 [[ 9.92572408e-01 1.56448199e-02 -1.20645161e-01 1.33286911e+02] [-1.56650770e-02 9.99876990e-01 7.80571841e-04 7.12956274e+00] [ 1.20642532e-01 1.11514166e-03 9.92695389e-01 9.88063159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82863999999998 meters Centerline goodness : 0.997296 with order 1 Centerline is valid? [True, True] Translation: X:133.35, Y:7.13, Z:9.89 [[ 9.92584937e-01 1.48258017e-02 -1.20645508e-01 1.33345132e+02] [-1.48470703e-02 9.99889515e-01 7.22657310e-04 7.13269282e+00] [ 1.20642893e-01 1.07393358e-03 9.92695391e-01 9.88639814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88863999999998 meters Centerline goodness : 0.996602 with order 1 Centerline is valid? [True, True] Translation: X:133.40, Y:7.14, Z:9.89 [[ 9.92583146e-01 1.49426610e-02 -1.20645829e-01 1.33403813e+02] [-1.49718620e-02 9.99887695e-01 6.64464986e-04 7.13509114e+00] [ 1.20642208e-01 1.14675596e-03 9.92695393e-01 9.89388595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94863999999998 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:133.47, Y:7.14, Z:9.88 [[ 9.92622125e-01 1.20760595e-02 -1.20646118e-01 1.33465288e+02] [-1.20911585e-02 9.99926715e-01 6.06923630e-04 7.14059165e+00] [ 1.20644606e-01 8.56305522e-04 9.92695394e-01 9.87761340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00863999999999 meters Centerline goodness : 0.819704 with order 3 Centerline is valid? [True, False] Translation: X:133.44, Y:7.14, Z:9.88 [[ 9.93703502e-01 1.07416595e-02 -1.11525638e-01 1.33441040e+02] [-1.08463170e-02 9.99941122e-01 -3.31727442e-04 7.14292763e+00] [ 1.11515508e-01 1.53928114e-03 9.93761502e-01 9.87647232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06864 meters Centerline goodness : 0.996064 with order 1 Centerline is valid? [False, True] Translation: X:133.43, Y:7.15, Z:9.88 [[ 9.94105101e-01 9.86679446e-03 -1.07970808e-01 1.33430694e+02] [-1.01575391e-02 9.99946114e-01 -2.14315893e-03 7.14627222e+00] [ 1.07943844e-01 3.22724292e-03 9.94151755e-01 9.87823988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12864 meters Centerline goodness : 0.996064 with order 1 Centerline is valid? [True, True] Translation: X:133.49, Y:7.14, Z:9.88 [[ 9.94138277e-01 6.25772331e-03 -1.07934824e-01 1.33490329e+02] [-6.16572711e-03 9.99980288e-01 1.18603633e-03 7.14324494e+00] [ 1.07940118e-01 -5.13587447e-04 9.94157265e-01 9.88146816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18864 meters Centerline goodness : 0.994785 with order 1 Centerline is valid? [True, True] Translation: X:133.55, Y:7.14, Z:9.89 [[ 9.94156997e-01 -1.38648447e-03 -1.07934903e-01 1.33548743e+02] [ 1.52261084e-03 9.99998146e-01 1.17878757e-03 7.14018435e+00] [ 1.07933069e-01 -1.33624276e-03 9.94157265e-01 9.88959665e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24864 meters Centerline goodness : 0.994251 with order 1 Centerline is valid? [True, True] Translation: X:133.61, Y:7.14, Z:9.90 [[ 9.94134028e-01 -6.89038630e-03 -1.07935428e-01 1.33607064e+02] [ 7.05339596e-03 9.99974488e-01 1.12854908e-03 7.13548438e+00] [ 1.07924899e-01 -1.88324036e-03 9.94157266e-01 9.89523445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30864 meters Centerline goodness : 0.995277 with order 1 Centerline is valid? [True, True] Translation: X:133.67, Y:7.13, Z:9.90 [[ 9.94094061e-01 -1.12620623e-02 -1.07935927e-01 1.33665661e+02] [ 1.14453364e-02 9.99933918e-01 1.07862923e-03 7.12997789e+00] [ 1.07916647e-01 -2.30762191e-03 9.94157267e-01 9.89780178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36864 meters Centerline goodness : 0.993645 with order 1 Centerline is valid? [True, True] Translation: X:133.72, Y:7.13, Z:9.91 [[ 9.94093700e-01 -1.12893509e-02 -1.07936398e-01 1.33724359e+02] [ 1.14674346e-02 9.99933717e-01 1.02932768e-03 7.12806935e+00] [ 1.07917623e-01 -2.26100174e-03 9.94157269e-01 9.90795657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42864 meters Centerline goodness : 0.983130 with order 1 Centerline is valid? [True, True] Translation: X:133.79, Y:7.16, Z:9.90 [[ 9.92541683e-01 5.66632755e-02 -1.07936464e-01 1.33786772e+02] [-5.68854152e-02 9.98380190e-01 1.02232340e-03 7.15544043e+00] [ 1.07819556e-01 5.12531199e-03 9.94157269e-01 9.89504087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48864 meters Centerline goodness : 0.992819 with order 1 Centerline is valid? [True, True] Translation: X:133.84, Y:7.12, Z:9.93 [[ 9.94118289e-01 -8.86205060e-03 -1.07936519e-01 1.33843469e+02] [ 9.02447773e-03 9.99958762e-01 1.01646052e-03 7.12104865e+00] [ 1.07923060e-01 -1.98455271e-03 9.94157269e-01 9.92522016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54863999999998 meters Centerline goodness : 0.998033 with order 1 Centerline is valid? [True, True] Translation: X:133.91, Y:7.12, Z:9.90 [[ 9.94127423e-01 -7.76929652e-03 -1.07936576e-01 1.33906730e+02] [ 7.92465063e-03 9.99968089e-01 1.01044448e-03 7.11690951e+00] [ 1.07925281e-01 -1.85987022e-03 9.94157269e-01 9.90391621e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60863999999998 meters Centerline goodness : 0.995034 with order 1 Centerline is valid? [True, True] Translation: X:133.96, Y:7.11, Z:9.93 [[ 9.94156540e-01 -1.57057819e-03 -1.07936586e-01 1.33964080e+02] [ 1.68939495e-03 9.99998064e-01 1.00936945e-03 7.11494106e+00] [ 1.07934791e-01 -1.18581877e-03 9.94157269e-01 9.93133571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66863999999998 meters Centerline goodness : 0.998918 with order 1 Centerline is valid? [True, True] Translation: X:134.03, Y:7.11, Z:9.90 [[ 9.92637055e-01 -5.49668907e-02 -1.07936642e-01 1.34025944e+02] [ 5.53986390e-02 9.98463812e-01 1.00327873e-03 7.10792177e+00] [ 1.07715684e-01 -6.97543471e-03 9.94157269e-01 9.90075611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.72863999999998 meters Centerline goodness : 0.997442 with order 1 Centerline is valid? [True, True] Translation: X:134.08, Y:7.11, Z:9.92 [[ 9.94155007e-01 -2.33826716e-03 -1.07936805e-01 1.34083646e+02] [ 2.45900366e-03 9.99996491e-01 9.85501254e-04 7.11115913e+00] [ 1.07934121e-01 -1.24515800e-03 9.94157269e-01 9.92494856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78864 meters Centerline goodness : 0.997739 with order 1 Centerline is valid? [True, True] Translation: X:134.14, Y:7.11, Z:9.93 [[ 9.94154604e-01 -2.50253599e-03 -1.07936837e-01 1.34142599e+02] [ 2.62384558e-03 9.99996076e-01 9.81888949e-04 7.10987868e+00] [ 1.07933957e-01 -1.25935901e-03 9.94157269e-01 9.93018967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84864 meters Centerline goodness : 0.993650 with order 1 Centerline is valid? [True, True] Translation: X:134.20, Y:7.11, Z:9.96 [[ 9.94157493e-01 6.52095419e-04 -1.07937271e-01 1.34199372e+02] [-5.54771594e-04 9.99999412e-01 9.31695777e-04 7.10974206e+00] [ 1.07937815e-01 -8.66371805e-04 9.94157270e-01 9.96041930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90864 meters Centerline goodness : 0.993316 with order 1 Centerline is valid? [True, True] Translation: X:134.26, Y:7.11, Z:9.97 [[ 9.94149054e-01 4.14675903e-03 -1.07937306e-01 1.34258724e+02] [-4.07041489e-03 9.99991286e-01 9.27610534e-04 7.11203375e+00] [ 1.07940212e-01 -4.82833518e-04 9.94157270e-01 9.96506668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96864 meters Centerline goodness : 0.995330 with order 1 Centerline is valid? [True, True] Translation: X:134.32, Y:7.12, Z:9.97 [[ 9.94146235e-01 4.77362718e-03 -1.07937368e-01 1.34317579e+02] [-4.70176064e-03 9.99988523e-01 9.20299912e-04 7.11618251e+00] [ 1.07940523e-01 -4.07417023e-04 9.94157270e-01 9.96990155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02864 meters Centerline goodness : 0.995230 with order 1 Centerline is valid? [True, True] Translation: X:134.38, Y:7.12, Z:9.98 [[ 9.94153719e-01 2.79601912e-03 -1.07937782e-01 1.34375655e+02] [-2.71811194e-03 9.99995928e-01 8.68895412e-04 7.11656063e+00] [ 1.07939772e-01 -5.70428631e-04 9.94157271e-01 9.97855173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08864 meters Centerline goodness : 0.995868 with order 1 Centerline is valid? [True, True] Translation: X:134.43, Y:7.12, Z:9.99 [[ 9.94157484e-01 -4.98940019e-04 -1.07938169e-01 1.34434579e+02] [ 5.90667206e-04 9.99999491e-01 8.17842835e-04 7.11808862e+00] [ 1.07937706e-01 -8.76820112e-04 9.94157273e-01 9.98505401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14864 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:134.50, Y:7.12, Z:9.97 [[ 9.94144045e-01 -5.18621415e-03 -1.07938509e-01 1.34496736e+02] [ 5.30031070e-03 9.99985657e-01 7.70184399e-04 7.11967818e+00] [ 1.07932967e-01 -1.33778187e-03 9.94157274e-01 9.96948239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20864 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:134.56, Y:7.12, Z:9.97 [[ 9.94142803e-01 -5.41849536e-03 -1.07938535e-01 1.34555768e+02] [ 5.53356465e-03 9.99984396e-01 7.66572036e-04 7.12235984e+00] [ 1.07932697e-01 -1.35936694e-03 9.94157274e-01 9.97399092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:134.61, Y:7.13, Z:9.98 [[ 9.94149341e-01 -4.03602961e-03 -1.07938866e-01 1.34613572e+02] [ 4.13757397e-03 9.99991183e-01 7.16816948e-04 7.12527639e+00] [ 1.07935021e-01 -1.15922814e-03 9.94157275e-01 9.98207454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:134.67, Y:7.13, Z:9.99 [[ 9.94150439e-01 -3.75240343e-03 -1.07938980e-01 1.34671819e+02] [ 3.85036257e-03 9.99992343e-01 6.99144494e-04 7.12934791e+00] [ 1.07935530e-01 -1.11065902e-03 9.94157275e-01 9.98654959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38863999999998 meters Centerline goodness : 0.996313 with order 1 Centerline is valid? [True, True] Translation: X:134.73, Y:7.13, Z:10.02 [[ 9.94146707e-01 -4.62906099e-03 -1.07939320e-01 1.34727586e+02] [ 4.72596851e-03 9.99988626e-01 6.42005937e-04 7.13190561e+00] [ 1.07935121e-01 -1.14836592e-03 9.94157277e-01 1.00179744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44863999999998 meters Centerline goodness : 0.853138 with order 3 Centerline is valid? [True, False] Translation: X:134.81, Y:7.16, Z:10.03 [[ 9.90506818e-01 3.08239723e-03 -1.37429043e-01 1.34811303e+02] [-7.05096703e-03 9.99571777e-01 -2.83997730e-02 7.15708171e+00] [ 1.37282654e-01 2.90991765e-02 9.90104394e-01 1.00298644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50863999999999 meters Centerline goodness : 0.997342 with order 1 Centerline is valid? [False, True] Translation: X:134.91, Y:7.18, Z:10.05 [[ 9.84858461e-01 1.79219293e-02 -1.72431484e-01 1.34907372e+02] [-2.64651384e-02 9.98526531e-01 -4.73747216e-02 7.17613251e+00] [ 1.71328365e-01 5.12208185e-02 9.83881608e-01 1.00458043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56864 meters Centerline goodness : 0.996561 with order 1 Centerline is valid? [True, True] Translation: X:134.96, Y:7.13, Z:10.05 [[ 9.84973838e-01 2.74684992e-02 -1.70505189e-01 1.34963022e+02] [-2.66914702e-02 9.99620261e-01 6.84828705e-03 7.12828454e+00] [ 1.70628554e-01 -2.19434940e-03 9.85332980e-01 1.00532933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62864 meters Centerline goodness : 0.997346 with order 1 Centerline is valid? [True, True] Translation: X:135.02, Y:7.13, Z:10.06 [[ 9.85042671e-01 2.48534771e-02 -1.70508769e-01 1.35021739e+02] [-2.40531951e-02 9.99687838e-01 6.75798225e-03 7.13107799e+00] [ 1.70623502e-01 -2.55562020e-03 9.85332984e-01 1.00603933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:135.08, Y:7.13, Z:10.05 [[ 9.85105175e-01 2.22149605e-02 -1.70511847e-01 1.35084207e+02] [-2.13890519e-02 9.99748916e-01 6.67940095e-03 7.13366471e+00] [ 1.70617417e-01 -2.93282569e-03 9.85332987e-01 1.00478133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74864 meters Centerline goodness : 0.997051 with order 1 Centerline is valid? [True, True] Translation: X:135.14, Y:7.14, Z:10.08 [[ 9.85111155e-01 2.19431120e-02 -1.70512497e-01 1.35139284e+02] [-2.11160392e-02 9.99754830e-01 6.66277513e-03 7.13591700e+00] [ 1.70616895e-01 -2.96302554e-03 9.85332987e-01 1.00814133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:135.20, Y:7.14, Z:10.07 [[ 9.85211249e-01 1.68545400e-02 -1.70513104e-01 1.35201821e+02] [-1.59545326e-02 9.99850623e-01 6.64721496e-03 7.13578690e+00] [ 1.70599669e-01 -3.82845408e-03 9.85332987e-01 1.00684626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86864 meters Centerline goodness : 0.995181 with order 1 Centerline is valid? [True, True] Translation: X:135.26, Y:7.14, Z:10.11 [[ 9.85313183e-01 9.10501758e-03 -1.70514015e-01 1.35255494e+02] [-8.09394993e-03 9.99945305e-01 6.62376060e-03 7.13657785e+00] [ 1.70564998e-01 -5.14634674e-03 9.85332988e-01 1.01081178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.92864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:135.32, Y:7.13, Z:10.09 [[ 9.85336572e-01 6.05717698e-03 -1.70514369e-01 1.35319105e+02] [-5.00243180e-03 9.99965611e-01 6.61463124e-03 7.13271141e+00] [ 1.70548571e-01 -5.66465157e-03 9.85332988e-01 1.00901405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98864 meters Centerline goodness : 0.994490 with order 1 Centerline is valid? [True, True] Translation: X:135.37, Y:7.13, Z:10.13 [[ 9.85344286e-01 4.61617699e-03 -1.70514893e-01 1.35373029e+02] [-3.54237617e-03 9.99971938e-01 6.60110865e-03 7.13198165e+00] [ 1.70540579e-01 -5.90033680e-03 9.85332988e-01 1.01304412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.04863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:135.44, Y:7.13, Z:10.11 [[ 9.85339478e-01 5.53281070e-03 -1.70515398e-01 1.35437035e+02] [-4.47487898e-03 9.99968286e-01 6.58802857e-03 7.12762362e+00] [ 1.70546441e-01 -5.72840886e-03 9.85332988e-01 1.01101448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:135.49, Y:7.12, Z:10.12 [[ 9.85336106e-01 6.08948424e-03 -1.70515913e-01 1.35494056e+02] [-5.04212742e-03 9.99965675e-01 6.57466512e-03 7.12428277e+00] [ 1.70550097e-01 -5.61849196e-03 9.85332988e-01 1.01220275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16863999999998 meters Centerline goodness : 0.996948 with order 1 Centerline is valid? [True, True] Translation: X:135.55, Y:7.12, Z:10.16 [[ 9.85325638e-01 7.57394335e-03 -1.70516927e-01 1.35548199e+02] [-6.55319144e-03 9.99957087e-01 6.54826950e-03 7.12022883e+00] [ 1.70559206e-01 -5.33474776e-03 9.85332988e-01 1.01595186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22863999999998 meters Centerline goodness : 0.997493 with order 1 Centerline is valid? [True, True] Translation: X:135.61, Y:7.12, Z:10.17 [[ 9.85279911e-01 1.21406960e-02 -1.70517155e-01 1.35607013e+02] [-1.11887986e-02 9.99916001e-01 6.54231959e-03 7.11737341e+00] [ 1.70582260e-01 -4.53813397e-03 9.85332988e-01 1.01709892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.67, Y:7.11, Z:10.15 [[ 9.85222142e-01 1.61604269e-02 -1.70517363e-01 1.35670772e+02] [-1.52691878e-02 9.99862051e-01 6.53690427e-03 7.11496167e+00] [ 1.70599479e-01 -3.83664119e-03 9.85332988e-01 1.01522818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.73, Y:7.11, Z:10.16 [[ 9.85201503e-01 1.73703209e-02 -1.70517656e-01 1.35729123e+02] [-1.64983871e-02 9.99842574e-01 6.52923915e-03 7.11207240e+00] [ 1.70604227e-01 -3.61934992e-03 9.85332988e-01 1.01616840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40864 meters Centerline goodness : 0.998477 with order 1 Centerline is valid? [True, True] Translation: X:135.78, Y:7.11, Z:10.20 [[ 9.85140827e-01 2.05008156e-02 -1.70520578e-01 1.35783844e+02] [-1.96887707e-02 9.99785339e-01 6.45202484e-03 7.11208671e+00] [ 1.70616246e-01 -2.99881252e-03 9.85332991e-01 1.01969031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.85, Y:7.12, Z:10.18 [[ 9.85046466e-01 2.46195368e-02 -1.70520786e-01 1.35847180e+02] [-2.38696797e-02 9.99694294e-01 6.44652647e-03 7.11655792e+00] [ 1.70627367e-01 -2.27985157e-03 9.85332991e-01 1.01821885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:135.90, Y:7.12, Z:10.19 [[ 9.84973785e-01 2.73711975e-02 -1.70521141e-01 1.35904944e+02] [-2.66638906e-02 9.99623729e-01 6.43712108e-03 7.11888347e+00] [ 1.70633171e-01 -1.79363846e-03 9.85332991e-01 1.01916759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58864 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:135.96, Y:7.13, Z:10.22 [[ 9.84969507e-01 2.75042308e-02 -1.70524449e-01 1.35959147e+02] [-2.68142822e-02 9.99620275e-01 6.34827670e-03 7.12749193e+00] [ 1.70634302e-01 -1.68036826e-03 9.85332995e-01 1.02239112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.64864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.02, Y:7.13, Z:10.21 [[ 9.85142920e-01 2.03606736e-02 -1.70525279e-01 1.36021099e+02] [-1.95683685e-02 9.99788509e-01 6.32591110e-03 7.13160228e+00] [ 1.70618014e-01 -2.89502502e-03 9.85332995e-01 1.02120490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.08, Y:7.13, Z:10.22 [[ 9.85212602e-01 1.66214701e-02 -1.70528168e-01 1.36078780e+02] [-1.57872260e-02 9.99855858e-01 6.24706312e-03 7.13174220e+00] [ 1.70607423e-01 -3.46251858e-03 9.85332999e-01 1.02219975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76864 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:136.13, Y:7.13, Z:10.26 [[ 9.85341625e-01 4.59144163e-03 -1.70530935e-01 1.36132852e+02] [-3.59169146e-03 9.99974511e-01 6.17061939e-03 7.13240805e+00] [ 1.70554920e-01 -5.46767364e-03 9.85333001e-01 1.02570722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.20, Y:7.13, Z:10.24 [[ 9.85345014e-01 -3.67113860e-03 -1.70533653e-01 1.36195149e+02] [ 4.78041491e-03 9.99970001e-01 6.09457136e-03 7.12909546e+00] [ 1.70506163e-01 -6.82047712e-03 9.85333004e-01 1.02428401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88863999999998 meters Centerline goodness : 0.997683 with order 1 Centerline is valid? [True, True] Translation: X:136.25, Y:7.12, Z:10.28 [[ 9.85271245e-01 -1.25677900e-02 -1.70536286e-01 1.36248961e+02] [ 1.37961976e-02 9.99886706e-01 6.02001291e-03 7.11625073e+00] [ 1.70441307e-01 -8.28409790e-03 9.85333007e-01 1.02772663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94863999999998 meters Centerline goodness : 0.998035 with order 1 Centerline is valid? [True, True] Translation: X:136.31, Y:7.11, Z:10.29 [[ 9.85215732e-01 -1.63258043e-02 -1.70538646e-01 1.36306290e+02] [ 1.75982806e-02 9.99827420e-01 5.95241080e-03 7.10734840e+00] [ 1.70412036e-01 -8.86559570e-03 9.85333009e-01 1.02860684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00863999999999 meters Centerline goodness : 0.999162 with order 1 Centerline is valid? [True, True] Translation: X:136.36, Y:7.09, Z:10.29 [[ 9.85203543e-01 -1.70364124e-02 -1.70539555e-01 1.36363837e+02] [ 1.83149084e-02 9.99814705e-01 5.92623236e-03 7.08894180e+00] [ 1.70406993e-01 -8.96196145e-03 9.85333010e-01 1.02945217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.43, Y:7.07, Z:10.28 [[ 9.85196678e-01 -1.74046226e-02 -1.70542030e-01 1.36425340e+02] [ 1.86761372e-02 9.99808447e-01 5.85415565e-03 7.07141299e+00] [ 1.70407473e-01 -8.95256105e-03 9.85333012e-01 1.02840440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12864 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:136.48, Y:7.06, Z:10.31 [[ 9.85251799e-01 -1.39328831e-02 -1.70542567e-01 1.36480487e+02] [ 1.51501906e-02 9.99868183e-01 5.83846039e-03 7.05879677e+00] [ 1.70438740e-01 -8.33610600e-03 9.85333012e-01 1.03099324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:136.54, Y:7.05, Z:10.32 [[ 9.85342422e-01 -3.83601546e-03 -1.70545000e-01 1.36537348e+02] [ 4.89104768e-03 9.99971412e-01 5.76651888e-03 7.04596156e+00] [ 1.70518004e-01 -6.51613940e-03 9.85333015e-01 1.03207987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.60, Y:7.03, Z:10.32 [[ 9.85346030e-01 2.57568702e-03 -1.70547844e-01 1.36597694e+02] [-1.63062412e-03 9.99982532e-01 5.68118022e-03 7.03328389e+00] [ 1.70559497e-01 -5.31982894e-03 9.85333018e-01 1.03168027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30864 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:136.65, Y:7.03, Z:10.35 [[ 9.85203398e-01 1.69364272e-02 -1.70550351e-01 1.36652520e+02] [-1.62179851e-02 9.99852770e-01 5.60491162e-03 7.03005354e+00] [ 1.70620168e-01 -2.75599493e-03 9.85333021e-01 1.03459716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.71, Y:7.03, Z:10.34 [[ 9.85117672e-01 2.13425755e-02 -1.70551070e-01 1.36714067e+02] [-2.06934662e-02 9.99770279e-01 5.58292257e-03 7.02618147e+00] [ 1.70631045e-01 -1.97054286e-03 9.85333022e-01 1.03381591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.77, Y:7.03, Z:10.35 [[ 9.84907116e-01 2.94988096e-02 -1.70551439e-01 1.36770922e+02] [-2.89730038e-02 9.99564666e-01 5.57163398e-03 7.02619540e+00] [ 1.70641549e-01 -5.46154468e-04 9.85333022e-01 1.03475847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48864 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:136.83, Y:7.02, Z:10.38 [[ 9.84792254e-01 3.30970994e-02 -1.70554383e-01 1.36826421e+02] [-3.26407135e-02 9.99452126e-01 5.48003871e-03 7.02477168e+00] [ 1.70642314e-01 1.70317063e-04 9.85333026e-01 1.03751238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:136.89, Y:7.03, Z:10.37 [[ 9.84768933e-01 3.37718187e-02 -1.70556774e-01 1.36887582e+02] [-3.33385421e-02 9.99429503e-01 5.40460190e-03 7.02581840e+00] [ 1.70641995e-01 3.63830133e-04 9.85333029e-01 1.03707357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60863999999998 meters Centerline goodness : 0.999016 with order 1 Centerline is valid? [True, True] Translation: X:136.94, Y:7.03, Z:10.40 [[ 9.84532153e-01 4.00836378e-02 -1.70557151e-01 1.36942494e+02] [-3.97464150e-02 9.99195247e-01 5.39266067e-03 7.02684038e+00] [ 1.70636052e-01 1.46978751e-03 9.85333029e-01 1.03990717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.66863999999998 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:137.00, Y:7.03, Z:10.41 [[ 9.84393704e-01 4.33407317e-02 -1.70559715e-01 1.37000885e+02] [-4.30662822e-02 9.99058104e-01 5.31035228e-03 7.03000471e+00] [ 1.70629220e-01 2.11789545e-03 9.85333032e-01 1.04077344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72863999999998 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:137.06, Y:7.03, Z:10.42 [[ 9.84399733e-01 4.31935716e-02 -1.70562249e-01 1.37059074e+02] [-4.29312510e-02 9.99064352e-01 5.22768458e-03 7.03077587e+00] [ 1.70628465e-01 2.17631941e-03 9.85333035e-01 1.04184679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78864 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:137.12, Y:7.03, Z:10.43 [[ 9.84484550e-01 4.12047443e-02 -1.70564768e-01 1.37116959e+02] [-4.09272632e-02 9.99148886e-01 5.14418114e-03 7.03370390e+00] [ 1.70631563e-01 1.91638229e-03 9.85333039e-01 1.04316927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.18, Y:7.03, Z:10.42 [[ 9.84524497e-01 4.02285558e-02 -1.70567223e-01 1.37178033e+02] [-3.99508613e-02 9.99188826e-01 5.06147540e-03 7.03499983e+00] [ 1.70632479e-01 1.83116093e-03 9.85333042e-01 1.04227583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90864 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:137.23, Y:7.04, Z:10.45 [[ 9.84586407e-01 3.86730159e-02 -1.70569648e-01 1.37233142e+02] [-3.83865424e-02 9.99250564e-01 4.97840692e-03 7.03789881e+00] [ 1.70634347e-01 1.64590724e-03 9.85333046e-01 1.04501326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96864 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:137.29, Y:7.04, Z:10.46 [[ 9.84736918e-01 3.46179104e-02 -1.70571985e-01 1.37291008e+02] [-3.42851476e-02 9.99400094e-01 4.89700731e-03 7.03604456e+00] [ 1.70639182e-01 1.02582181e-03 9.85333049e-01 1.04626993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:137.35, Y:7.03, Z:10.45 [[ 9.84837253e-01 3.16233354e-02 -1.70574177e-01 1.37352701e+02] [-3.12594189e-02 9.99499686e-01 4.81944898e-03 7.03377345e+00] [ 1.70641244e-01 5.85676771e-04 9.85333052e-01 1.04519946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.41, Y:7.03, Z:10.46 [[ 9.84976384e-01 2.69292736e-02 -1.70576485e-01 1.37409925e+02] [-2.65098729e-02 9.99637331e-01 4.73634120e-03 7.02902679e+00] [ 1.70642169e-01 -1.43223275e-04 9.85333055e-01 1.04625693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.47, Y:7.02, Z:10.47 [[ 9.84993568e-01 2.62768187e-02 -1.70579012e-01 1.37467713e+02] [-2.58637741e-02 9.99654692e-01 4.64356056e-03 7.02435860e+00] [ 1.70642128e-01 -1.62060254e-04 9.85333059e-01 1.04710155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20864 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:137.52, Y:7.02, Z:10.51 [[ 9.84931133e-01 2.85083204e-02 -1.70581182e-01 1.37522698e+02] [-2.81425430e-02 9.99593508e-01 4.56243356e-03 7.01972836e+00] [ 1.70641910e-01 3.06905401e-04 9.85333063e-01 1.05065951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.59, Y:7.01, Z:10.49 [[ 9.84818485e-01 3.21645715e-02 -1.70581337e-01 1.37585210e+02] [-3.18542285e-02 9.99482138e-01 4.55666278e-03 7.01497374e+00] [ 1.70639562e-01 9.46251147e-04 9.85333063e-01 1.04932080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32863999999998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:137.64, Y:7.01, Z:10.53 [[ 9.84691798e-01 3.58320220e-02 -1.70581739e-01 1.37639290e+02] [-3.55789091e-02 9.99356551e-01 4.54155255e-03 7.01200588e+00] [ 1.70634711e-01 1.59708264e-03 9.85333063e-01 1.05263765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.70, Y:7.01, Z:10.51 [[ 9.84439207e-01 4.21970464e-02 -1.70583873e-01 1.37701116e+02] [-4.20528810e-02 9.99105432e-01 4.45993785e-03 7.01404806e+00] [ 1.70619471e-01 2.78300565e-03 9.85333066e-01 1.05149229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.76, Y:7.02, Z:10.52 [[ 9.84164274e-01 4.81778415e-02 -1.70585985e-01 1.37758557e+02] [-4.81370417e-02 9.98831147e-01 4.37768735e-03 7.01908078e+00] [ 1.70597502e-01 3.90314116e-03 9.85333069e-01 1.05243472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50863999999999 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:137.81, Y:7.02, Z:10.56 [[ 9.84045955e-01 5.05290984e-02 -1.70588302e-01 1.37812414e+02] [-5.05393185e-02 9.98712878e-01 4.28545994e-03 7.02464047e+00] [ 1.70585275e-01 4.40432701e-03 9.85333074e-01 1.05614139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:137.87, Y:7.03, Z:10.57 [[ 9.84143305e-01 4.85945199e-02 -1.70588770e-01 1.37872472e+02] [-4.85791477e-02 9.98810223e-01 4.26675421e-03 7.03176633e+00] [ 1.70593148e-01 4.08795947e-03 9.85333074e-01 1.05658330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.93, Y:7.03, Z:10.56 [[ 9.84229653e-01 4.68118916e-02 -1.70589089e-01 1.37934108e+02] [-4.67721681e-02 9.98896525e-01 4.25397137e-03 7.03285138e+00] [ 1.70599985e-01 3.79193677e-03 9.85333074e-01 1.05555298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:137.99, Y:7.04, Z:10.56 [[ 9.84333346e-01 4.45707743e-02 -1.70591058e-01 1.37992567e+02] [-4.45115967e-02 9.99000150e-01 4.17349658e-03 7.03863243e+00] [ 1.70606509e-01 3.48516853e-03 9.85333077e-01 1.05647455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.05, Y:7.04, Z:10.57 [[ 9.84467147e-01 4.15026136e-02 -1.70592994e-01 1.38049675e+02] [-4.14116943e-02 9.99133785e-01 4.09284632e-03 7.03915965e+00] [ 1.70615087e-01 3.03527217e-03 9.85333080e-01 1.05733835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80864 meters Centerline goodness : 0.998720 with order 1 Centerline is valid? [True, True] Translation: X:138.10, Y:7.04, Z:10.61 [[ 9.84569913e-01 3.89790921e-02 -1.70595181e-01 1.38103172e+02] [-3.88667358e-02 9.99236399e-01 3.99957955e-03 7.03864780e+00] [ 1.70620814e-01 2.69261214e-03 9.85333085e-01 1.06067956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86864 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:138.16, Y:7.04, Z:10.62 [[ 9.84558333e-01 3.92624174e-02 -1.70597047e-01 1.38160164e+02] [-3.91683480e-02 9.99224943e-01 3.91837635e-03 7.03815791e+00] [ 1.70618669e-01 2.82413441e-03 9.85333088e-01 1.06174423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92864 meters Centerline goodness : 0.998770 with order 1 Centerline is valid? [True, True] Translation: X:138.22, Y:7.04, Z:10.63 [[ 9.84535360e-01 3.98252792e-02 -1.70599154e-01 1.38217967e+02] [-3.97558690e-02 9.99202104e-01 3.82442660e-03 7.03803414e+00] [ 1.70615342e-01 3.01703438e-03 9.85333092e-01 1.06262526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98864 meters Centerline goodness : 0.998574 with order 1 Centerline is valid? [True, True] Translation: X:138.28, Y:7.04, Z:10.64 [[ 9.84436325e-01 4.21952319e-02 -1.70600948e-01 1.38275792e+02] [-4.21752926e-02 9.99103216e-01 3.74266292e-03 7.03929598e+00] [ 1.70605878e-01 3.51073156e-03 9.85333095e-01 1.06361828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:138.34, Y:7.04, Z:10.62 [[ 9.84503815e-01 4.05827474e-02 -1.70602692e-01 1.38337072e+02] [-4.05528575e-02 9.99170686e-01 3.66142267e-03 7.03919569e+00] [ 1.70609799e-01 3.31374208e-03 9.85333099e-01 1.06224483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10863999999998 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:138.39, Y:7.04, Z:10.66 [[ 9.84571290e-01 3.89029003e-02 -1.70604630e-01 1.38390058e+02] [-3.88640293e-02 9.99238135e-01 3.56880135e-03 7.03922780e+00] [ 1.70613489e-01 3.11664401e-03 9.85333103e-01 1.06567081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16863999999998 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:138.45, Y:7.04, Z:10.66 [[ 9.84606990e-01 3.79801381e-02 -1.70606521e-01 1.38447247e+02] [-3.79435877e-02 9.99273837e-01 3.47604913e-03 7.04165971e+00] [ 1.70614654e-01 3.05088121e-03 9.85333107e-01 1.06643601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.51, Y:7.04, Z:10.65 [[ 9.84613187e-01 3.78108057e-02 -1.70608368e-01 1.38508225e+02] [-3.77878668e-02 9.99280057e-01 3.38290650e-03 7.04274090e+00] [ 1.70613451e-01 3.11607195e-03 9.85333111e-01 1.06510645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28864 meters Centerline goodness : 0.990314 with order 1 Centerline is valid? [True, True] Translation: X:138.56, Y:7.04, Z:10.70 [[ 9.84881495e-01 3.00102049e-02 -1.70610165e-01 1.38560759e+02] [-2.98872192e-02 9.99547864e-01 3.28976288e-03 7.04131295e+00] [ 1.70631753e-01 1.85903683e-03 9.85333116e-01 1.07009341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:138.63, Y:7.04, Z:10.67 [[ 9.84966965e-01 2.70585061e-02 -1.70610417e-01 1.38626647e+02] [-2.68938346e-02 9.99632925e-01 3.27667566e-03 7.03910380e+00] [ 1.70636452e-01 1.36095104e-03 9.85333116e-01 1.06706524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:138.68, Y:7.03, Z:10.68 [[ 9.85081088e-01 2.25227279e-02 -1.70610598e-01 1.38684705e+02] [-2.22921693e-02 9.99746160e-01 3.26718445e-03 7.03421104e+00] [ 1.70640877e-01 5.84838736e-04 9.85333116e-01 1.06797630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46864 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:138.74, Y:7.03, Z:10.71 [[ 9.85111782e-01 2.11254178e-02 -1.70612116e-01 1.38738478e+02] [-2.08881285e-02 9.99776743e-01 3.18593970e-03 7.03324830e+00] [ 1.70641330e-01 4.25261067e-04 9.85333119e-01 1.07125797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52864 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:138.80, Y:7.03, Z:10.72 [[ 9.85036267e-01 2.43835980e-02 -1.70613576e-01 1.38796927e+02] [-2.42087028e-02 9.99702102e-01 3.10575477e-03 7.03338721e+00] [ 1.70638480e-01 1.07105227e-03 9.85333122e-01 1.07221650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58864 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:138.86, Y:7.04, Z:10.73 [[ 9.84982398e-01 2.64613067e-02 -1.70614988e-01 1.38855028e+02] [-2.63311307e-02 9.99648695e-01 3.02617251e-03 7.03670610e+00] [ 1.70635127e-01 1.51175890e-03 9.85333125e-01 1.07298027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64864 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:138.91, Y:7.04, Z:10.74 [[ 9.84963183e-01 2.71585177e-02 -1.70616361e-01 1.38913167e+02] [-2.70524843e-02 9.99629671e-01 2.94672299e-03 7.03790663e+00] [ 1.70633206e-01 1.71318276e-03 9.85333129e-01 1.07376160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70864 meters Centerline goodness : 0.999359 with order 1 Centerline is valid? [True, True] Translation: X:138.97, Y:7.05, Z:10.75 [[ 9.84911353e-01 2.89693450e-02 -1.70617711e-01 1.38971147e+02] [-2.89041886e-02 9.99578077e-01 2.86640024e-03 7.04553486e+00] [ 1.70628761e-01 2.10841635e-03 9.85333132e-01 1.07482706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76863999999998 meters Centerline goodness : 0.999458 with order 1 Centerline is valid? [True, True] Translation: X:139.03, Y:7.05, Z:10.76 [[ 9.84912851e-01 2.89107576e-02 -1.70619003e-01 1.39029045e+02] [-2.88584214e-02 9.99579623e-01 2.78734537e-03 7.05120955e+00] [ 1.70627863e-01 2.17850281e-03 9.85333135e-01 1.07593851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:139.09, Y:7.06, Z:10.77 [[ 9.85026176e-01 2.47416938e-02 -1.70620282e-01 1.39086954e+02] [-2.46412377e-02 9.99692694e-01 2.70674995e-03 7.05565282e+00] [ 1.70634819e-01 1.53807537e-03 9.85333138e-01 1.07692305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88863999999998 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:139.14, Y:7.06, Z:10.79 [[ 9.85169673e-01 1.81385899e-02 -1.70621530e-01 1.39144481e+02] [-1.79538631e-02 9.99835369e-01 2.62570823e-03 7.05649943e+00] [ 1.70641067e-01 4.76547466e-04 9.85333141e-01 1.07872711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94863999999998 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:139.20, Y:7.06, Z:10.80 [[ 9.85300253e-01 8.46527526e-03 -1.70621657e-01 1.39202990e+02] [-8.13799912e-03 9.99963460e-01 2.61744821e-03 7.05679568e+00] [ 1.70637580e-01 -1.19045349e-03 9.85333141e-01 1.07957178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00863999999999 meters Centerline goodness : 0.998425 with order 1 Centerline is valid? [True, True] Translation: X:139.26, Y:7.05, Z:10.80 [[ 9.85336201e-01 6.40348954e-04 -1.70622860e-01 1.39262503e+02] [-2.10649488e-04 9.99996761e-01 2.53650837e-03 7.05355244e+00] [ 1.70623932e-01 -2.46337190e-03 9.85333144e-01 1.08021774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:139.33, Y:7.05, Z:10.79 [[ 9.85324970e-01 -4.74218800e-03 -1.70623021e-01 1.39325385e+02] [ 5.25009147e-03 9.99983029e-01 2.52567739e-03 7.04890594e+00] [ 1.70608148e-01 -3.38439947e-03 9.85333145e-01 1.07864141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12864 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:139.38, Y:7.04, Z:10.82 [[ 9.85292444e-01 -9.30061024e-03 -1.70623267e-01 1.39379337e+02] [ 9.87341906e-03 9.99948109e-01 2.50890501e-03 7.04101689e+00] [ 1.70591079e-01 -4.15664017e-03 9.85333145e-01 1.08212570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.44, Y:7.04, Z:10.81 [[ 9.85333741e-01 -2.18508128e-03 -1.70624277e-01 1.39440916e+02] [ 2.63981020e-03 9.99993543e-01 2.43826316e-03 7.04138570e+00] [ 1.70617848e-01 -2.85291867e-03 9.85333147e-01 1.08073502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:139.50, Y:7.04, Z:10.84 [[ 9.85316957e-01 6.14164666e-03 -1.70624660e-01 1.39495550e+02] [-5.81550133e-03 9.99980183e-01 2.41121580e-03 7.04360257e+00] [ 1.70636087e-01 -1.38354388e-03 9.85333147e-01 1.08388053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30864 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:139.55, Y:7.05, Z:10.85 [[ 9.85223782e-01 1.48656293e-02 -1.70625650e-01 1.39553772e+02] [-1.46818370e-02 9.99889480e-01 2.33898819e-03 7.04851789e+00] [ 1.70641563e-01 2.00671198e-04 9.85333150e-01 1.08483563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.62, Y:7.05, Z:10.84 [[ 9.85183717e-01 1.73081654e-02 -1.70626699e-01 1.39615748e+02] [-1.71744424e-02 9.99849955e-01 2.25983036e-03 7.05499033e+00] [ 1.70640211e-01 7.04070340e-04 9.85333153e-01 1.08371147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:139.67, Y:7.07, Z:10.87 [[ 9.85107508e-01 2.11984857e-02 -1.70627730e-01 1.39670726e+02] [-2.11366454e-02 9.99774221e-01 2.17919756e-03 7.06553350e+00] [ 1.70635401e-01 1.45975393e-03 9.85333156e-01 1.08671343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:139.73, Y:7.07, Z:10.86 [[ 9.85044660e-01 2.39345672e-02 -1.70628703e-01 1.39732648e+02] [-2.39271570e-02 9.99711499e-01 2.10013820e-03 7.06872287e+00] [ 1.70629742e-01 2.01392985e-03 9.85333159e-01 1.08571303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:139.79, Y:7.08, Z:10.89 [[ 9.84909651e-01 2.89572519e-02 -1.70629587e-01 1.39785971e+02] [-2.90375255e-02 9.99576270e-01 2.02569091e-03 7.07765357e+00] [ 1.70615945e-01 2.95953846e-03 9.85333162e-01 1.08863656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:139.84, Y:7.09, Z:10.90 [[ 9.84885663e-01 2.97560666e-02 -1.70630616e-01 1.39844255e+02] [-2.98639257e-02 9.99552100e-01 1.93509583e-03 7.08626140e+00] [ 1.70611771e-01 3.18985189e-03 9.85333166e-01 1.08952503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66863999999998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:139.90, Y:7.09, Z:10.91 [[ 9.85056107e-01 2.34384726e-02 -1.70631486e-01 1.39901540e+02] [-2.34661139e-02 9.99722912e-01 1.85510462e-03 7.09240791e+00] [ 1.70627687e-01 2.17667574e-03 9.85333169e-01 1.09065055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72863999999998 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:139.96, Y:7.09, Z:10.92 [[ 9.85185866e-01 1.71294675e-02 -1.70632326e-01 1.39959506e+02] [-1.70771677e-02 9.99852600e-01 1.77433227e-03 7.09411235e+00] [ 1.70637568e-01 1.16586977e-03 9.85333173e-01 1.09200303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78864 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:140.02, Y:7.09, Z:10.93 [[ 9.85291471e-01 9.23506076e-03 -1.70632444e-01 1.40017950e+02] [-9.06721973e-03 9.99957338e-01 1.76292678e-03 7.09496796e+00] [ 1.70641445e-01 -1.89834858e-04 9.85333173e-01 1.09342831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.08, Y:7.10, Z:10.92 [[ 9.85321469e-01 5.11383348e-03 -1.70632503e-01 1.40082095e+02] [-4.88564275e-03 9.99986521e-01 1.75720250e-03 7.09564003e+00] [ 1.70639189e-01 -8.97759899e-04 9.85333173e-01 1.09155015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:140.14, Y:7.09, Z:10.93 [[ 9.85316910e-01 5.92531991e-03 -1.70632582e-01 1.40139626e+02] [-5.71054471e-03 9.99982164e-01 1.74947806e-03 7.09450018e+00] [ 1.70639905e-01 -7.49385326e-04 9.85333173e-01 1.09254830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96864 meters Centerline goodness : 0.986350 with order 1 Centerline is valid? [True, True] Translation: X:140.19, Y:7.12, Z:10.95 [[ 9.83749436e-01 5.58686531e-02 -1.70633352e-01 1.40194847e+02] [-5.64112127e-02 9.98406222e-01 1.67090515e-03 7.11923663e+00] [ 1.70454752e-01 7.98188233e-03 9.85333176e-01 1.09540250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:140.26, Y:7.10, Z:10.95 [[ 9.85256948e-01 1.23665883e-02 -1.70633568e-01 1.40255557e+02] [-1.22651743e-02 9.99923421e-01 1.64852122e-03 7.09918160e+00] [ 1.70640888e-01 4.68633484e-04 9.85333176e-01 1.09463034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08864 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:140.31, Y:7.10, Z:10.98 [[ 9.85261108e-01 1.20200684e-02 -1.70634310e-01 1.40309071e+02] [-1.19274552e-02 9.99927636e-01 1.56791917e-03 7.09818981e+00] [ 1.70640808e-01 4.90423316e-04 9.85333179e-01 1.09795630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14864 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:140.37, Y:7.10, Z:10.99 [[ 9.85293658e-01 8.95051050e-03 -1.70634980e-01 1.40367357e+02] [-8.82547274e-03 9.99959943e-01 1.49131002e-03 7.10336615e+00] [ 1.70641493e-01 3.65560606e-05 9.85333182e-01 1.09939554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:140.43, Y:7.10, Z:10.98 [[ 9.85283496e-01 1.00060039e-02 -1.70635030e-01 1.40430810e+02] [-9.89767061e-03 9.99949913e-01 1.48557564e-03 7.10382037e+00] [ 1.70641348e-01 2.25176162e-04 9.85333182e-01 1.09790635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.49, Y:7.11, Z:10.99 [[ 9.85229603e-01 1.43622415e-02 -1.70635150e-01 1.40487863e+02] [-1.43211800e-02 9.99896364e-01 1.47157582e-03 7.11076920e+00] [ 1.70638602e-01 9.93856632e-04 9.85333182e-01 1.09877097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:140.54, Y:7.12, Z:11.00 [[ 9.85127275e-01 2.01901034e-02 -1.70635902e-01 1.40544691e+02] [-2.02518959e-02 9.99793959e-01 1.37865682e-03 7.11665527e+00] [ 1.70628579e-01 2.09754808e-03 9.85333186e-01 1.09978908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38863999999998 meters Centerline goodness : 0.876025 with order 3 Centerline is valid? [True, False] Translation: X:140.52, Y:7.13, Z:10.99 [[ 9.88255013e-01 8.48282092e-03 -1.52578084e-01 1.40520139e+02] [-8.74654691e-03 9.99961189e-01 -1.05734144e-03 7.12707525e+00] [ 1.52563194e-01 2.37945435e-03 9.88290853e-01 1.09935501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44863999999998 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [False, True] Translation: X:140.50, Y:7.16, Z:11.00 [[ 9.89073830e-01 3.13338012e-03 -1.47387720e-01 1.40499705e+02] [-8.18913116e-03 9.99398170e-01 -3.37081064e-02 7.15897256e+00] [ 1.47193398e-01 3.45467833e-02 9.88504235e-01 1.09997903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50863999999999 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:140.56, Y:7.14, Z:11.00 [[ 9.89016661e-01 4.05323184e-03 -1.47748486e-01 1.40558387e+02] [-4.29095063e-03 9.99989961e-01 -1.29023664e-03 7.13790276e+00] [ 1.47741773e-01 1.91004699e-03 9.89024125e-01 1.10036358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56864 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:140.62, Y:7.15, Z:11.01 [[ 9.89024465e-01 1.08682255e-03 -1.47747847e-01 1.40617946e+02] [-1.30200559e-03 9.99998228e-01 -1.35971360e-03 7.14817946e+00] [ 1.47746107e-01 1.53715854e-03 9.89024128e-01 1.10088654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62864 meters Centerline goodness : 0.998481 with order 1 Centerline is valid? [True, True] Translation: X:140.68, Y:7.16, Z:11.03 [[ 9.89020433e-01 -3.03052735e-03 -1.47747755e-01 1.40675670e+02] [ 2.85955052e-03 9.99994974e-01 -1.36961964e-03 7.15627062e+00] [ 1.47751163e-01 9.32089644e-04 9.89024128e-01 1.10276253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68864 meters Centerline goodness : 0.998579 with order 1 Centerline is valid? [True, True] Translation: X:140.74, Y:7.16, Z:11.03 [[ 9.89011521e-01 -5.17939762e-03 -1.47747707e-01 1.40735119e+02] [ 5.03150316e-03 9.99986397e-01 -1.37472572e-03 7.16335908e+00] [ 1.47752818e-01 6.16226519e-04 9.89024128e-01 1.10331830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:140.80, Y:7.17, Z:11.01 [[ 9.89012036e-01 -5.08166487e-03 -1.47747653e-01 1.40798578e+02] [ 4.93180817e-03 9.99986886e-01 -1.38060120e-03 7.16998367e+00] [ 1.47752731e-01 6.36768125e-04 9.89024128e-01 1.10118041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80864 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:140.85, Y:7.17, Z:11.05 [[ 9.88959476e-01 -1.13931043e-02 -1.47747597e-01 1.40853209e+02] [ 1.13123979e-02 9.99935051e-01 -1.38656254e-03 7.17391613e+00] [ 1.47753798e-01 -3.00125442e-04 9.89024128e-01 1.10505268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:140.91, Y:7.18, Z:11.06 [[ 9.88988898e-01 -8.46343855e-03 -1.47747524e-01 1.40911226e+02] [ 8.34906674e-03 9.99964174e-01 -1.39427738e-03 7.17908740e+00] [ 1.47754031e-01 1.45370917e-04 9.89024128e-01 1.10561796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:140.97, Y:7.19, Z:11.07 [[ 9.89016138e-01 -4.22074588e-03 -1.47747297e-01 1.40969488e+02] [ 4.05576245e-03 9.99990770e-01 -1.41791025e-03 7.18652395e+00] [ 1.47751918e-01 8.03108182e-04 9.89024128e-01 1.10668988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98864 meters Centerline goodness : 0.990966 with order 1 Centerline is valid? [True, True] Translation: X:141.03, Y:7.22, Z:11.06 [[ 9.87889747e-01 4.73774842e-02 -1.47747158e-01 1.41030642e+02] [-4.81168823e-02 9.98840685e-01 -1.43228426e-03 7.21826016e+00] [ 1.47508014e-01 8.52407153e-03 9.89024128e-01 1.10594951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.09, Y:7.20, Z:11.06 [[ 9.89022509e-01 2.29784223e-03 -1.47747067e-01 1.41090042e+02] [-2.53869645e-03 9.99995738e-01 -1.44162254e-03 7.20195039e+00] [ 1.47743124e-01 1.80088210e-03 9.89024128e-01 1.10581048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:141.15, Y:7.21, Z:11.09 [[ 9.89021505e-01 -2.73289742e-03 -1.47746381e-01 1.41145243e+02] [ 2.53782843e-03 9.99995641e-01 -1.50879236e-03 7.20513355e+00] [ 1.47749860e-01 1.11727313e-03 9.89024130e-01 1.10874118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.21, Y:7.21, Z:11.08 [[ 9.89006890e-01 -6.04891107e-03 -1.47745667e-01 1.41206019e+02] [ 5.88063621e-03 9.99981467e-01 -1.57574326e-03 7.21275903e+00] [ 1.47752461e-01 6.89582420e-04 9.89024133e-01 1.10756102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:141.26, Y:7.22, Z:11.11 [[ 9.88954312e-01 -1.18659894e-02 -1.47744939e-01 1.41259615e+02] [ 1.17524738e-02 9.99929590e-01 -1.64130377e-03 7.21783428e+00] [ 1.47754012e-01 -1.13194087e-04 9.89024135e-01 1.11056983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:141.32, Y:7.22, Z:11.09 [[ 9.88932230e-01 -1.35918487e-02 -1.47744058e-01 1.41321237e+02] [ 1.34861561e-02 9.99907583e-01 -1.71714657e-03 7.22442848e+00] [ 1.47753743e-01 -2.94357848e-04 9.89024138e-01 1.10917328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.38, Y:7.23, Z:11.10 [[ 9.88889679e-01 -1.64052636e-02 -1.47743256e-01 1.41377929e+02] [ 1.63208583e-02 9.99865215e-01 -1.78366213e-03 7.23061257e+00] [ 1.47752603e-01 -6.47451675e-04 9.89024140e-01 1.11007762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:141.44, Y:7.23, Z:11.11 [[ 9.88867330e-01 -1.77091690e-02 -1.47742306e-01 1.41435019e+02] [ 1.76279595e-02 9.99842887e-01 -1.85913808e-03 7.23295413e+00] [ 1.47752018e-01 -7.65954480e-04 9.89024143e-01 1.11092077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:141.49, Y:7.24, Z:11.14 [[ 9.88770445e-01 -2.24834420e-02 -1.47741333e-01 1.41489491e+02] [ 2.24441056e-02 9.99746230e-01 -1.93356897e-03 7.23836018e+00] [ 1.47747313e-01 -1.40406622e-03 9.89024145e-01 1.11391226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:141.55, Y:7.24, Z:11.15 [[ 9.88559104e-01 -3.03917083e-02 -1.47740456e-01 1.41547142e+02] [ 3.04304836e-02 9.99534888e-01 -1.99837710e-03 7.24021898e+00] [ 1.47732474e-01 -2.52029965e-03 9.89024147e-01 1.11477761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.61, Y:7.24, Z:11.13 [[ 9.88338797e-01 -3.68707035e-02 -1.47739549e-01 1.41608266e+02] [ 3.69717071e-02 9.99314182e-01 -2.06339086e-03 7.24096005e+00] [ 1.47714305e-01 -3.42285408e-03 9.89024149e-01 1.11340083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.66, Y:7.24, Z:11.16 [[ 9.88156487e-01 -4.14734993e-02 -1.47738638e-01 1.41663563e+02] [ 4.16161689e-02 9.99131409e-01 -2.12665095e-03 7.24095081e+00] [ 1.47698513e-01 -4.04685219e-03 9.89024151e-01 1.11638823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:141.72, Y:7.24, Z:11.17 [[ 9.88030951e-01 -4.43643109e-02 -1.47738444e-01 1.41721511e+02] [ 4.45370852e-02 9.99005440e-01 -2.14006104e-03 7.24033568e+00] [ 1.47686451e-01 -4.46539312e-03 9.89024152e-01 1.11732973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76863999999998 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:141.78, Y:7.24, Z:11.18 [[ 9.87851754e-01 -4.81906625e-02 -1.47738185e-01 1.41779767e+02] [ 4.84032917e-02 9.98825543e-01 -2.15779021e-03 7.23619069e+00] [ 1.47668658e-01 -5.01943763e-03 9.89024152e-01 1.11806488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82863999999998 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:141.84, Y:7.23, Z:11.19 [[ 9.87728660e-01 -5.06537133e-02 -1.47737253e-01 1.41837505e+02] [ 5.08844339e-02 9.98702081e-01 -2.21985481e-03 7.23154310e+00] [ 1.47657946e-01 -5.32491225e-03 9.89024154e-01 1.11887607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:141.90, Y:7.23, Z:11.17 [[ 9.87896303e-01 -4.72745137e-02 -1.47736305e-01 1.41899834e+02] [ 4.74585194e-02 9.98870605e-01 -2.28126884e-03 7.22757985e+00] [ 1.47677298e-01 -4.75768924e-03 9.89024155e-01 1.11733772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:141.96, Y:7.22, Z:11.20 [[ 9.87612214e-01 -5.28806918e-02 -1.47735395e-01 1.41955359e+02] [ 5.31183897e-02 9.98585483e-01 -2.33878025e-03 7.22208906e+00] [ 1.47650097e-01 -5.53765832e-03 9.89024157e-01 1.12041115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00863999999999 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:142.01, Y:7.21, Z:11.22 [[ 9.87553074e-01 -5.39747111e-02 -1.47735092e-01 1.42012711e+02] [ 5.42217330e-02 9.98526136e-01 -2.35773831e-03 7.21071491e+00] [ 1.47644609e-01 -5.68206099e-03 9.89024157e-01 1.12166105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:142.07, Y:7.20, Z:11.20 [[ 9.87635130e-01 -5.24546477e-02 -1.47734086e-01 1.42074274e+02] [ 5.26755991e-02 9.98608747e-01 -2.41919703e-03 7.20085278e+00] [ 1.47655448e-01 -5.39269750e-03 9.89024159e-01 1.12009865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12864 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:142.13, Y:7.19, Z:11.23 [[ 9.87592900e-01 -5.32466593e-02 -1.47733058e-01 1.42129405e+02] [ 5.34672640e-02 9.98566522e-01 -2.48042689e-03 7.19058225e+00] [ 1.47653360e-01 -5.44923043e-03 9.89024161e-01 1.12332202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18864 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:142.19, Y:7.18, Z:11.24 [[ 9.87929667e-01 -4.65857504e-02 -1.47731987e-01 1.42187326e+02] [ 4.67230540e-02 9.98904646e-01 -2.54265370e-03 7.18248274e+00] [ 1.47688620e-01 -4.39052660e-03 9.89024163e-01 1.12417059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:142.25, Y:7.18, Z:11.23 [[ 9.88318681e-01 -3.74402227e-02 -1.47730883e-01 1.42248804e+02] [ 3.74665828e-02 9.99294485e-01 -2.60530735e-03 7.17948749e+00] [ 1.47724200e-01 -2.96009742e-03 9.89024165e-01 1.12259002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:142.31, Y:7.17, Z:11.24 [[ 9.88483295e-01 -3.28130191e-02 -1.47729760e-01 1.42307185e+02] [ 3.27787018e-02 9.99459074e-01 -2.66750984e-03 7.17386294e+00] [ 1.47737378e-01 -2.20560082e-03 9.89024167e-01 1.12351439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:142.37, Y:7.17, Z:11.24 [[ 9.88585489e-01 -2.95803531e-02 -1.47728578e-01 1.42365635e+02] [ 2.95005889e-02 9.99561031e-01 -2.73145565e-03 7.16981246e+00] [ 1.47744527e-01 -1.65780263e-03 9.89024169e-01 1.12441412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:142.42, Y:7.17, Z:11.25 [[ 9.88688169e-01 -2.59293690e-02 -1.47727358e-01 1.42423520e+02] [ 2.57994445e-02 9.99663229e-01 -2.79590241e-03 7.16739179e+00] [ 1.47750104e-01 -1.04700815e-03 9.89024171e-01 1.12516148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:142.48, Y:7.17, Z:11.26 [[ 9.88736212e-01 -2.40354259e-02 -1.47726104e-01 1.42481617e+02] [ 2.38747964e-02 9.99710863e-01 -2.86070424e-03 7.16515613e+00] [ 1.47752149e-01 -6.98448775e-04 9.89024173e-01 1.12612424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54863999999998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:142.54, Y:7.16, Z:11.27 [[ 9.88731892e-01 -2.42203472e-02 -1.47724814e-01 1.42539845e+02] [ 2.40520347e-02 9.99706426e-01 -2.92586628e-03 7.16404060e+00] [ 1.47752311e-01 -6.60185032e-04 9.89024175e-01 1.12676958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60863999999998 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:142.59, Y:7.16, Z:11.30 [[ 9.88643686e-01 -2.75942167e-02 -1.47723464e-01 1.42594283e+02] [ 2.74533982e-02 9.99618605e-01 -2.99250809e-03 7.16139127e+00] [ 1.47749699e-01 -1.09698684e-03 9.89024177e-01 1.13032707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66863999999998 meters Centerline goodness : 0.997941 with order 1 Centerline is valid? [True, True] Translation: X:142.65, Y:7.16, Z:11.32 [[ 9.88703282e-01 -2.53771896e-02 -1.47722097e-01 1.42652816e+02] [ 2.52018964e-02 9.99677703e-01 -3.05853283e-03 7.16017044e+00] [ 1.47752104e-01 -6.98895538e-04 9.89024179e-01 1.13166534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72863999999998 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:142.71, Y:7.16, Z:11.32 [[ 9.88796049e-01 -2.14617310e-02 -1.47721928e-01 1.42713359e+02] [ 2.12417599e-02 9.99769665e-01 -3.06670398e-03 7.16229940e+00] [ 1.47753719e-01 -1.05528938e-04 9.89024179e-01 1.13202309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78864 meters Centerline goodness : 0.998669 with order 1 Centerline is valid? [True, True] Translation: X:142.77, Y:7.16, Z:11.33 [[ 9.88810880e-01 -2.07675726e-02 -1.47721872e-01 1.42772147e+02] [ 2.05394959e-02 9.99784331e-01 -3.06939418e-03 7.16493792e+00] [ 1.47753756e-01 9.17575232e-07 9.89024179e-01 1.13317630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84864 meters Centerline goodness : 0.998379 with order 1 Centerline is valid? [True, True] Translation: X:142.83, Y:7.17, Z:11.34 [[ 9.88796969e-01 -2.14203923e-02 -1.47721771e-01 1.42830761e+02] [ 2.11988410e-02 9.99770553e-01 -3.07420975e-03 7.16540920e+00] [ 1.47753728e-01 -9.17610592e-05 9.89024179e-01 1.13397493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:142.89, Y:7.17, Z:11.32 [[ 9.88789691e-01 -2.17637947e-02 -1.47720294e-01 1.42893226e+02] [ 2.15356776e-02 9.99763138e-01 -3.14366925e-03 7.16619833e+00] [ 1.47753722e-01 -7.28288689e-05 9.89024182e-01 1.13216128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96864 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:142.95, Y:7.16, Z:11.36 [[ 9.88683323e-01 -2.61551842e-02 -1.47719984e-01 1.42948274e+02] [ 2.59736436e-02 9.99657639e-01 -3.15814704e-03 7.16205606e+00] [ 1.47752013e-01 -7.14418903e-04 9.89024182e-01 1.13569530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:143.01, Y:7.16, Z:11.34 [[ 9.88570605e-01 -3.01169046e-02 -1.47719769e-01 1.43011392e+02] [ 2.99778434e-02 9.99545543e-01 -3.16818045e-03 7.15667323e+00] [ 1.47748052e-01 -1.29635003e-03 9.89024182e-01 1.13384287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:143.07, Y:7.15, Z:11.35 [[ 9.88533329e-01 -3.13175422e-02 -1.47719561e-01 1.43068928e+02] [ 3.11903688e-02 9.99508410e-01 -3.17783079e-03 7.15480078e+00] [ 1.47746466e-01 -1.46603594e-03 9.89024182e-01 1.13479090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14864 meters Centerline goodness : 0.998038 with order 1 Centerline is valid? [True, True] Translation: X:143.12, Y:7.15, Z:11.38 [[ 9.88447508e-01 -3.39256437e-02 -1.47717889e-01 1.43123966e+02] [ 3.38160823e-02 9.99422776e-01 -3.25376110e-03 7.15149452e+00] [ 1.47743009e-01 -1.77906825e-03 9.89024185e-01 1.13828935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:143.19, Y:7.15, Z:11.36 [[ 9.88563434e-01 -3.03606458e-02 -1.47717865e-01 1.43187860e+02] [ 3.02113364e-02 9.99538234e-01 -3.25487924e-03 7.15206943e+00] [ 1.47748474e-01 -1.24509951e-03 9.89024185e-01 1.13639060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:143.25, Y:7.15, Z:11.37 [[ 9.88487737e-01 -3.27332289e-02 -1.47717735e-01 1.43246087e+02] [ 3.26093816e-02 9.99462854e-01 -3.26076310e-03 7.15034921e+00] [ 1.47745124e-01 -1.59375965e-03 9.89024185e-01 1.13738291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.30, Y:7.15, Z:11.38 [[ 9.88426979e-01 -3.45255501e-02 -1.47716260e-01 1.43304134e+02] [ 3.44118131e-02 9.99402203e-01 -3.32628493e-03 7.15137819e+00] [ 1.47742797e-01 -1.79539456e-03 9.89024187e-01 1.13828580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38863999999998 meters Centerline goodness : 0.998036 with order 1 Centerline is valid? [True, True] Translation: X:143.36, Y:7.15, Z:11.42 [[ 9.88256061e-01 -3.91192029e-02 -1.47714748e-01 1.43358816e+02] [ 3.90466400e-02 9.99231632e-01 -3.39212131e-03 7.14916088e+00] [ 1.47733946e-01 -2.41548014e-03 9.89024189e-01 1.14210859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.42, Y:7.15, Z:11.40 [[ 9.88341981e-01 -3.68855562e-02 -1.47714536e-01 1.43422700e+02] [ 3.67868136e-02 9.99317348e-01 -3.40131660e-03 7.14614980e+00] [ 1.47739158e-01 -2.07228313e-03 9.89024189e-01 1.14014211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50863999999999 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:143.48, Y:7.14, Z:11.44 [[ 9.88113527e-01 -4.25689271e-02 -1.47714402e-01 1.43477657e+02] [ 4.25324352e-02 9.99089277e-01 -3.40714265e-03 7.13885623e+00] [ 1.47724913e-01 -2.91600949e-03 9.89024189e-01 1.14404349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.54, Y:7.13, Z:11.42 [[ 9.88362857e-01 -3.63229485e-02 -1.47714270e-01 1.43541791e+02] [ 3.62162323e-02 9.99338149e-01 -3.41286806e-03 7.13350590e+00] [ 1.47740470e-01 -1.97650227e-03 9.89024189e-01 1.14193925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.60, Y:7.13, Z:11.43 [[ 9.88454554e-01 -3.37361547e-02 -1.47714140e-01 1.43598973e+02] [ 3.35998761e-02 9.99429518e-01 -3.41848368e-03 7.13106144e+00] [ 1.47745198e-01 -1.58416103e-03 9.89024189e-01 1.14280665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.66, Y:7.13, Z:11.44 [[ 9.88691840e-01 -2.58747442e-02 -1.47712364e-01 1.43657102e+02] [ 2.56399754e-02 9.99665137e-01 -3.49358199e-03 7.12796234e+00] [ 1.47753296e-01 -3.33265371e-04 9.89024192e-01 1.14374332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:143.71, Y:7.13, Z:11.45 [[ 9.88821765e-01 -2.03227140e-02 -1.47710883e-01 1.43713921e+02] [ 2.00171363e-02 9.99793316e-01 -3.55514496e-03 7.12931509e+00] [ 1.47752603e-01 5.58655845e-04 9.89024194e-01 1.14468527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80864 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:143.77, Y:7.13, Z:11.48 [[ 9.88789770e-01 -2.18369239e-02 -1.47708966e-01 1.43767624e+02] [ 2.15365053e-02 9.99761461e-01 -3.63308261e-03 7.12802205e+00] [ 1.47753067e-01 4.11219993e-04 9.89024197e-01 1.14773117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86864 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:143.83, Y:7.13, Z:11.49 [[ 9.88800494e-01 -2.13597109e-02 -1.47706961e-01 1.43826105e+02] [ 2.10420768e-02 9.99771697e-01 -3.71288143e-03 7.13167516e+00] [ 1.47752545e-01 5.63237788e-04 9.89024200e-01 1.14857632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92864 meters Centerline goodness : 0.997790 with order 1 Centerline is valid? [True, True] Translation: X:143.88, Y:7.13, Z:11.50 [[ 9.88657971e-01 -2.71763515e-02 -1.47705320e-01 1.43884651e+02] [ 2.69136770e-02 9.99630626e-01 -3.77706113e-03 7.13385434e+00] [ 1.47753408e-01 -2.41071666e-04 9.89024202e-01 1.15013195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98864 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:143.94, Y:7.14, Z:11.51 [[ 9.88664869e-01 -2.69251717e-02 -1.47705152e-01 1.43944282e+02] [ 2.66587323e-02 9.99637432e-01 -3.78360143e-03 7.13608168e+00] [ 1.47753473e-01 -1.96918291e-04 9.89024202e-01 1.15056721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04863999999998 meters Centerline goodness : 0.997639 with order 1 Centerline is valid? [True, True] Translation: X:144.00, Y:7.13, Z:11.52 [[ 9.88551012e-01 -3.08246051e-02 -1.47704910e-01 1.44002754e+02] [ 3.06000387e-02 9.99524512e-01 -3.79302979e-03 7.13362143e+00] [ 1.47751597e-01 -7.70172532e-04 9.89024202e-01 1.15191514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10863999999998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:144.06, Y:7.13, Z:11.52 [[ 9.88433815e-01 -3.43791793e-02 -1.47704656e-01 1.44063280e+02] [ 3.41926007e-02 9.99408027e-01 -3.80289254e-03 7.13122106e+00] [ 1.47747959e-01 -1.29149876e-03 9.89024202e-01 1.15193832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.13, Y:7.13, Z:11.51 [[ 9.88287116e-01 -3.83665334e-02 -1.47704384e-01 1.44125093e+02] [ 3.82226548e-02 9.99261971e-01 -3.81343127e-03 7.12601917e+00] [ 1.47741682e-01 -1.87688869e-03 9.89024202e-01 1.15080992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22863999999998 meters Centerline goodness : 0.997884 with order 1 Centerline is valid? [True, True] Translation: X:144.18, Y:7.12, Z:11.54 [[ 9.88044515e-01 -4.41806339e-02 -1.47702769e-01 1.44180008e+02] [ 4.40921308e-02 9.99019954e-01 -3.87499086e-03 7.11844923e+00] [ 1.47729213e-01 -2.68386636e-03 9.89024204e-01 1.15409541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28864 meters Centerline goodness : 0.998128 with order 1 Centerline is valid? [True, True] Translation: X:144.24, Y:7.11, Z:11.55 [[ 9.87916525e-01 -4.69611675e-02 -1.47701013e-01 1.44237976e+02] [ 4.68937155e-02 9.98892111e-01 -3.94082113e-03 7.10900900e+00] [ 1.47722442e-01 -3.03304698e-03 9.89024206e-01 1.15496942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:144.30, Y:7.10, Z:11.54 [[ 9.88034175e-01 -4.44240613e-02 -1.47698923e-01 1.44299669e+02] [ 4.43169393e-02 9.99009443e-01 -4.01767447e-03 7.10395964e+00] [ 1.47731100e-01 -2.57596452e-03 9.89024209e-01 1.15350912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.36, Y:7.09, Z:11.54 [[ 9.88224235e-01 -3.99803892e-02 -1.47697087e-01 1.44357572e+02] [ 3.98139874e-02 9.99198762e-01 -4.08408920e-03 7.09436719e+00] [ 1.47742030e-01 -1.84441404e-03 9.89024211e-01 1.15447627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46864 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:144.41, Y:7.09, Z:11.58 [[ 9.88252028e-01 -3.92945174e-02 -1.47695193e-01 1.44412810e+02] [ 3.91104280e-02 9.99226270e-01 -4.15148447e-03 7.09241345e+00] [ 1.47744047e-01 -1.67370926e-03 9.89024214e-01 1.15757874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52864 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:144.47, Y:7.09, Z:11.58 [[ 9.88446477e-01 -3.40621282e-02 -1.47693379e-01 1.44470763e+02] [ 3.38104470e-02 9.99419375e-01 -4.21504169e-03 7.09241951e+00] [ 1.47751198e-01 -8.27236061e-04 9.89024216e-01 1.15839836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:144.53, Y:7.09, Z:11.57 [[ 9.88719628e-01 -2.49147528e-02 -1.47691411e-01 1.44531632e+02] [ 2.45514102e-02 9.99689394e-01 -4.28293687e-03 7.09491329e+00] [ 1.47752245e-01 6.08591337e-04 9.89024218e-01 1.15719865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64864 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:144.59, Y:7.10, Z:11.60 [[ 9.88774811e-01 -2.26322497e-02 -1.47689388e-01 1.44586673e+02] [ 2.22333296e-02 9.99743338e-01 -4.35159702e-03 7.09911680e+00] [ 1.47749968e-01 1.01912268e-03 9.89024220e-01 1.16005606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70864 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:144.64, Y:7.10, Z:11.61 [[ 9.88827579e-01 -2.02105510e-02 -1.47687348e-01 1.44643910e+02] [ 1.97745873e-02 9.99794695e-01 -4.41977134e-03 7.10258646e+00] [ 1.47746353e-01 1.44993542e-03 9.89024223e-01 1.16103133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76863999999998 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:144.70, Y:7.11, Z:11.62 [[ 9.88907563e-01 -1.58424159e-02 -1.47684971e-01 1.44700413e+02] [ 1.53463528e-02 9.99872121e-01 -4.49785533e-03 7.10914739e+00] [ 1.47737342e-01 2.18153749e-03 9.89024226e-01 1.16202073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82863999999998 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:144.76, Y:7.11, Z:11.63 [[ 9.88914228e-01 -1.54440758e-02 -1.47682532e-01 1.44757321e+02] [ 1.49318448e-02 9.99878040e-01 -4.57656352e-03 7.11437752e+00] [ 1.47735201e-01 2.32065614e-03 9.89024229e-01 1.16281204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88863999999998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:144.82, Y:7.12, Z:11.62 [[ 9.88958264e-01 -1.23353613e-02 -1.47680032e-01 1.44818658e+02] [ 1.17768299e-02 9.99919811e-01 -4.65586918e-03 7.12100283e+00] [ 1.47725622e-01 2.86525768e-03 9.89024232e-01 1.16171060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94863999999998 meters Centerline goodness : 0.998085 with order 1 Centerline is valid? [True, True] Translation: X:144.87, Y:7.13, Z:11.65 [[ 9.88965443e-01 -1.17714128e-02 -1.47677985e-01 1.44873241e+02] [ 1.11970694e-02 9.99926171e-01 -4.71992516e-03 7.13118669e+00] [ 1.47722642e-01 3.01428223e-03 9.89024234e-01 1.16477912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00863999999999 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:144.93, Y:7.14, Z:11.65 [[ 9.88967959e-01 -1.15864905e-02 -1.47675759e-01 1.44931933e+02] [ 1.09998504e-02 9.99928034e-01 -4.78857898e-03 7.13848669e+00] [ 1.47720614e-01 3.11133991e-03 9.89024236e-01 1.16533638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06864 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:144.99, Y:7.15, Z:11.67 [[ 9.88908001e-01 -1.59217968e-02 -1.47673495e-01 1.44989285e+02] [ 1.53729299e-02 9.99870031e-01 -4.85743307e-03 7.14784837e+00] [ 1.47731641e-01 2.53338015e-03 9.89024238e-01 1.16656393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12864 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:145.05, Y:7.16, Z:11.67 [[ 9.88772084e-01 -2.28582451e-02 -1.47672839e-01 1.45047518e+02] [ 2.23833208e-02 9.99737565e-01 -4.87729167e-03 7.15768171e+00] [ 1.47745571e-01 1.51712131e-03 9.89024239e-01 1.16724167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:145.11, Y:7.16, Z:11.68 [[ 9.88599418e-01 -2.94042299e-02 -1.47670518e-01 1.45105858e+02] [ 2.89915637e-02 9.99567417e-01 -4.94660078e-03 7.16287789e+00] [ 1.47752089e-01 6.09007427e-04 9.89024241e-01 1.16793013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24864 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:145.16, Y:7.17, Z:11.69 [[ 9.88479697e-01 -3.31965616e-02 -1.47668132e-01 1.45163572e+02] [ 3.28154821e-02 9.99448836e-01 -5.01683712e-03 7.16563248e+00] [ 1.47753284e-01 1.13240697e-04 9.89024243e-01 1.16920463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:145.22, Y:7.17, Z:11.70 [[ 9.88371209e-01 -3.62934167e-02 -1.47665637e-01 1.45222544e+02] [ 3.59358892e-02 9.99341139e-01 -5.08924124e-03 7.16996628e+00] [ 1.47753052e-01 -2.76436447e-04 9.89024246e-01 1.16970107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36864 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:145.28, Y:7.17, Z:11.71 [[ 9.88360849e-01 -3.65765345e-02 -1.47665123e-01 1.45280511e+02] [ 3.62199264e-02 9.99330809e-01 -5.10412043e-03 7.17475214e+00] [ 1.47752997e-01 -3.03707062e-04 9.89024246e-01 1.17067943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42864 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:145.34, Y:7.18, Z:11.72 [[ 9.88235250e-01 -3.98347669e-02 -1.47662731e-01 1.45337649e+02] [ 3.95041247e-02 9.99206020e-01 -5.17239724e-03 7.17639684e+00] [ 1.47751531e-01 -7.21741671e-04 9.89024248e-01 1.17154585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48864 meters Centerline goodness : 0.999015 with order 1 Centerline is valid? [True, True] Translation: X:145.40, Y:7.18, Z:11.72 [[ 9.88112576e-01 -4.27793922e-02 -1.47659947e-01 1.45395510e+02] [ 4.24697422e-02 9.99083956e-01 -5.25069924e-03 7.17775497e+00] [ 1.47749306e-01 -1.08279794e-03 9.89024252e-01 1.17233152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54863999999998 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:145.45, Y:7.18, Z:11.73 [[ 9.87903703e-01 -4.73659868e-02 -1.47657499e-01 1.45453432e+02] [ 4.70971109e-02 9.98876155e-01 -5.31869039e-03 7.17709308e+00] [ 1.47743480e-01 -1.69988766e-03 9.89024254e-01 1.17322913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60863999999998 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:145.51, Y:7.18, Z:11.74 [[ 9.87876132e-01 -4.79452223e-02 -1.47655013e-01 1.45511574e+02] [ 4.76725979e-02 9.98848490e-01 -5.38682171e-03 7.17877717e+00] [ 1.47743259e-01 -1.71758548e-03 9.89024256e-01 1.17409092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.57, Y:7.18, Z:11.73 [[ 9.87734473e-01 -5.07871763e-02 -1.47652540e-01 1.45572763e+02] [ 5.05361128e-02 9.98707343e-01 -5.45378457e-03 7.17513677e+00] [ 1.47738659e-01 -2.07489441e-03 9.89024258e-01 1.17280868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72863999999998 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:145.63, Y:7.17, Z:11.76 [[ 9.87722095e-01 -5.10346429e-02 -1.47650018e-01 1.45627480e+02] [ 5.07762466e-02 9.98694793e-01 -5.52124162e-03 7.17052274e+00] [ 1.47739079e-01 -2.04366140e-03 9.89024261e-01 1.17611795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:145.69, Y:7.17, Z:11.75 [[ 9.87722440e-01 -5.10300120e-02 -1.47649310e-01 1.45689471e+02] [ 5.07687430e-02 9.98695069e-01 -5.54011872e-03 7.16954819e+00] [ 1.47739350e-01 -2.02387028e-03 9.89024261e-01 1.17465107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84864 meters Centerline goodness : 0.998573 with order 1 Centerline is valid? [True, True] Translation: X:145.74, Y:7.17, Z:11.78 [[ 9.87939696e-01 -4.66368800e-02 -1.47648769e-01 1.45744371e+02] [ 4.63246691e-02 9.98910993e-01 -5.55448315e-03 7.16997421e+00] [ 1.47747023e-01 -1.35228599e-03 9.89024261e-01 1.17775047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90864 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:145.80, Y:7.17, Z:11.78 [[ 9.88118053e-01 -4.26994938e-02 -1.47646423e-01 1.45802879e+02] [ 4.23343469e-02 9.99087715e-01 -5.61616869e-03 7.17386536e+00] [ 1.47751535e-01 -7.01077231e-04 9.89024263e-01 1.17821205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:145.86, Y:7.18, Z:11.77 [[ 9.88009318e-01 -4.51543174e-02 -1.47643746e-01 1.45863519e+02] [ 4.48060342e-02 9.98979525e-01 -5.68570889e-03 7.17723865e+00] [ 1.47749813e-01 -9.97797355e-04 9.89024265e-01 1.17736045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02864 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:145.92, Y:7.18, Z:11.80 [[ 9.88102450e-01 -4.30773595e-02 -1.47641084e-01 1.45918165e+02] [ 4.26958125e-02 9.99071549e-01 -5.75400387e-03 7.18256043e+00] [ 1.47751874e-01 -6.18110736e-04 9.89024267e-01 1.18035111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08864 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:145.98, Y:7.19, Z:11.81 [[ 9.88075815e-01 -4.36929704e-02 -1.47638439e-01 1.45976592e+02] [ 4.33082302e-02 9.99044800e-01 -5.82111304e-03 7.18599925e+00] [ 1.47751756e-01 -6.42258489e-04 9.89024270e-01 1.18097357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14864 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:146.03, Y:7.19, Z:11.82 [[ 9.87872567e-01 -4.80779033e-02 -1.47635721e-01 1.46033835e+02] [ 4.77316661e-02 9.98842833e-01 -5.88926352e-03 7.18902350e+00] [ 1.47748025e-01 -1.22905704e-03 9.89024272e-01 1.18230241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:146.09, Y:7.19, Z:11.83 [[ 9.87498209e-01 -5.52377740e-02 -1.47634940e-01 1.46092417e+02] [ 5.49681549e-02 9.98470625e-01 -5.90876563e-03 7.18663272e+00] [ 1.47735538e-01 -2.28032477e-03 9.89024272e-01 1.18280415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26863999999998 meters Centerline goodness : 0.997677 with order 1 Centerline is valid? [True, True] Translation: X:146.15, Y:7.18, Z:11.84 [[ 9.86946582e-01 -6.43519669e-02 -1.47632204e-01 1.46151025e+02] [ 6.41735519e-02 9.97920858e-01 -5.97635364e-03 7.18417634e+00] [ 1.47709846e-01 -3.57574112e-03 9.89024274e-01 1.18449748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.21, Y:7.18, Z:11.82 [[ 9.87159066e-01 -6.10071162e-02 -1.47631671e-01 1.46214882e+02] [ 6.07895464e-02 9.98132635e-01 -5.98951293e-03 7.18308974e+00] [ 1.47721391e-01 -3.06186030e-03 9.89024275e-01 1.18225989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38863999999998 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:146.27, Y:7.18, Z:11.86 [[ 9.87353042e-01 -5.77834571e-02 -1.47631441e-01 1.46270269e+02] [ 5.75292127e-02 9.98325822e-01 -5.99516027e-03 7.18211709e+00] [ 1.47730701e-01 -2.57378086e-03 9.89024275e-01 1.18592548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44863999999998 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:146.33, Y:7.18, Z:11.87 [[ 9.87502158e-01 -5.51764764e-02 -1.47631449e-01 1.46330338e+02] [ 5.48932908e-02 9.98474229e-01 -5.99497353e-03 7.18132207e+00] [ 1.47736979e-01 -2.18392676e-03 9.89024275e-01 1.18657355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50863999999999 meters Centerline goodness : 0.997393 with order 1 Centerline is valid? [True, True] Translation: X:146.39, Y:7.18, Z:11.88 [[ 9.87634941e-01 -5.27469118e-02 -1.47631251e-01 1.46388620e+02] [ 5.24360078e-02 9.98606262e-01 -5.99983347e-03 7.17845457e+00] [ 1.47741965e-01 -1.81554827e-03 9.89024275e-01 1.18763313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56864 meters Centerline goodness : 0.997890 with order 1 Centerline is valid? [True, True] Translation: X:146.45, Y:7.18, Z:11.88 [[ 9.87625118e-01 -5.29381799e-02 -1.47628502e-01 1.46447132e+02] [ 5.26194023e-02 9.98596211e-01 -6.06673127e-03 7.17943015e+00] [ 1.47742425e-01 -1.77646737e-03 9.89024277e-01 1.18846324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62864 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:146.51, Y:7.18, Z:11.89 [[ 9.87877241e-01 -4.80064075e-02 -1.47627712e-01 1.46507260e+02] [ 4.76299923e-02 9.98846508e-01 -6.08589764e-03 7.17515010e+00] [ 1.47749587e-01 -1.01938703e-03 9.89024277e-01 1.18876316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:146.57, Y:7.17, Z:11.87 [[ 9.87897282e-01 -4.75932927e-02 -1.47627363e-01 1.46569834e+02] [ 4.72110259e-02 9.98866346e-01 -6.09435919e-03 7.17390273e+00] [ 1.47750055e-01 -9.49038377e-04 9.89024277e-01 1.18735420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74864 meters Centerline goodness : 0.998820 with order 1 Centerline is valid? [True, True] Translation: X:146.63, Y:7.17, Z:11.90 [[ 9.88202099e-01 -4.07785733e-02 -1.47626964e-01 1.46625867e+02] [ 4.03192181e-02 9.99168205e-01 -6.10401997e-03 7.17323869e+00] [ 1.47753081e-01 7.98016046e-05 9.89024277e-01 1.19039423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80864 meters Centerline goodness : 0.997735 with order 1 Centerline is valid? [True, True] Translation: X:146.68, Y:7.18, Z:11.91 [[ 9.88356672e-01 -3.68437701e-02 -1.47626640e-01 1.46683595e+02] [ 3.63395894e-02 9.99320809e-01 -6.11184020e-03 7.17526370e+00] [ 1.47751556e-01 6.75986563e-04 9.89024277e-01 1.19140732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86864 meters Centerline goodness : 0.997442 with order 1 Centerline is valid? [True, True] Translation: X:146.74, Y:7.17, Z:11.92 [[ 9.88355489e-01 -3.68872147e-02 -1.47623715e-01 1.46741214e+02] [ 3.63730822e-02 9.99319161e-01 -6.18169677e-03 7.17457916e+00] [ 1.47751233e-01 7.40184410e-04 9.89024279e-01 1.19248119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92864 meters Centerline goodness : 0.997397 with order 1 Centerline is valid? [True, True] Translation: X:146.80, Y:7.18, Z:11.93 [[ 9.88325160e-01 -3.77026480e-02 -1.47620760e-01 1.46799145e+02] [ 3.71871363e-02 9.99288765e-01 -6.25149300e-03 7.17663181e+00] [ 1.47751464e-01 6.88914518e-04 9.89024282e-01 1.19308940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98863999999998 meters Centerline goodness : 0.824819 with order 3 Centerline is valid? [True, False] Translation: X:146.79, Y:7.20, Z:11.93 [[ 9.88236357e-01 -3.79240961e-02 -1.48157572e-01 1.46788552e+02] [ 3.25742921e-02 9.98732495e-01 -3.83708186e-02 7.19836054e+00] [ 1.49424961e-01 3.30933099e-02 9.88219112e-01 1.19338112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04863999999998 meters Centerline goodness : 0.997544 with order 1 Centerline is valid? [False, True] Translation: X:146.78, Y:7.21, Z:11.94 [[ 9.89447414e-01 -3.46526261e-02 -1.40687636e-01 1.46780935e+02] [ 2.73534871e-02 9.98193742e-01 -5.34886905e-02 7.20885103e+00] [ 1.42287041e-01 4.90759490e-02 9.88608087e-01 1.19360797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10863999999998 meters Centerline goodness : 0.997985 with order 1 Centerline is valid? [True, True] Translation: X:146.84, Y:7.17, Z:11.94 [[ 9.89425811e-01 -2.71853160e-02 -1.42469373e-01 1.46841677e+02] [ 2.67879020e-02 9.99630057e-01 -4.70709828e-03 7.16885145e+00] [ 1.42544631e-01 8.40868943e-04 9.89788018e-01 1.19366805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16863999999998 meters Centerline goodness : 0.998035 with order 1 Centerline is valid? [True, True] Translation: X:146.90, Y:7.17, Z:11.95 [[ 9.89402327e-01 -2.80384972e-02 -1.42467113e-01 1.46900192e+02] [ 2.76401703e-02 9.99606535e-01 -4.77454952e-03 7.17033196e+00] [ 1.42544928e-01 7.86135157e-04 9.89788020e-01 1.19450253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22863999999998 meters Centerline goodness : 0.878508 with order 1 Centerline is valid? [True, False] Translation: X:146.88, Y:7.19, Z:11.95 [[ 9.90338513e-01 -3.04277326e-02 -1.35291473e-01 1.46883715e+02] [ 2.67447552e-02 9.99222784e-01 -2.89576462e-02 7.18779125e+00] [ 1.36067438e-01 2.50595349e-02 9.90382589e-01 1.19479681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28864 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [False, True] Translation: X:146.88, Y:7.20, Z:11.95 [[ 9.90708069e-01 -3.18328775e-02 -1.32227795e-01 1.46876489e+02] [ 2.51934125e-02 9.98350745e-01 -5.15856735e-02 7.20464351e+00] [ 1.33651838e-01 4.77750736e-02 9.89876118e-01 1.19519340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34864 meters Centerline goodness : 0.965880 with order 2 Centerline is valid? [True, True] Translation: X:146.92, Y:7.13, Z:11.93 [[ 9.84907769e-01 -1.09687242e-01 -1.33885754e-01 1.46918455e+02] [ 1.10109966e-01 9.93910257e-01 -4.26567611e-03 7.12932248e+00] [ 1.33538314e-01 -1.05408583e-02 9.90987593e-01 1.19298677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:146.99, Y:7.19, Z:11.95 [[ 9.90988496e-01 -1.13862249e-02 -1.33462183e-01 1.46994547e+02] [ 9.19752206e-03 9.99813109e-01 -1.70045053e-02 7.19015604e+00] [ 1.33630857e-01 1.56237478e-02 9.90908014e-01 1.19487299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:147.05, Y:7.19, Z:11.96 [[ 9.90975093e-01 -7.25527524e-03 -1.33849643e-01 1.47051803e+02] [ 6.80610040e-03 9.99969568e-01 -3.81307317e-03 7.18603891e+00] [ 1.33873235e-01 2.86766643e-03 9.90994316e-01 1.19568301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:147.11, Y:7.19, Z:11.97 [[ 9.90981103e-01 -6.42441533e-03 -1.33847603e-01 1.47109267e+02] [ 5.95820371e-03 9.99974709e-01 -3.88341332e-03 7.19316071e+00] [ 1.33869166e-01 3.05089793e-03 9.90994318e-01 1.19668794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58864 meters Centerline goodness : 0.938256 with order 3 Centerline is valid? [True, False] Translation: X:147.04, Y:7.24, Z:11.97 [[ 9.93189538e-01 -1.56008264e-02 -1.15460623e-01 1.47037665e+02] [ 9.40150607e-03 9.98494340e-01 -5.40431810e-02 7.23652205e+00] [ 1.16129897e-01 5.25896183e-02 9.91840803e-01 1.19702503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [False, True] Translation: X:147.00, Y:7.26, Z:11.97 [[ 9.95245390e-01 -1.73884579e-02 -9.58345176e-02 1.47001695e+02] [ 1.01147829e-02 9.97066577e-01 -7.58678542e-02 7.25583451e+00] [ 9.68726195e-02 7.45377869e-02 9.92501795e-01 1.19731641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70864 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:147.06, Y:7.20, Z:11.99 [[ 9.95097868e-01 -1.05485205e-02 -9.83308790e-02 1.47062071e+02] [ 1.03018457e-02 9.99942386e-01 -3.01602194e-03 7.20112143e+00] [ 9.83570283e-02 1.98824746e-03 9.95149206e-01 1.19857095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:147.12, Y:7.21, Z:11.97 [[ 9.95100800e-01 -1.02700975e-02 -9.83306810e-02 1.47123428e+02] [ 1.00214308e-02 9.99945216e-01 -3.02246493e-03 7.20661037e+00] [ 9.83563350e-02 2.02224315e-03 9.95149206e-01 1.19704536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82863999999998 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:147.18, Y:7.22, Z:11.99 [[ 9.95110364e-01 -9.29948696e-03 -9.83304793e-02 1.47181417e+02] [ 9.04544860e-03 9.99954501e-01 -3.02901200e-03 7.21739771e+00] [ 9.83541736e-02 2.12475794e-03 9.95149206e-01 1.19929911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88863999999998 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:147.24, Y:7.22, Z:12.00 [[ 9.95083148e-01 -1.18598806e-02 -9.83304180e-02 1.47239215e+02] [ 1.16181105e-02 9.99927914e-01 -3.03100137e-03 7.22271113e+00] [ 9.83592770e-02 1.87368472e-03 9.95149206e-01 1.20024449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94863999999998 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:147.30, Y:7.23, Z:12.00 [[ 9.95054410e-01 -1.40760635e-02 -9.83289652e-02 1.47297763e+02] [ 1.38404982e-02 9.99899480e-01 -3.07742325e-03 7.23278544e+00] [ 9.83623992e-02 1.70128172e-03 9.95149207e-01 1.20048994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00863999999999 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:147.36, Y:7.24, Z:12.01 [[ 9.95011577e-01 -1.68424160e-02 -9.83274860e-02 1.47355653e+02] [ 1.66157215e-02 9.99857069e-01 -3.12398354e-03 7.23592606e+00] [ 9.83660474e-02 1.47461767e-03 9.95149208e-01 1.20143429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06864 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:147.41, Y:7.24, Z:12.02 [[ 9.94901719e-01 -2.24180853e-02 -9.83259874e-02 1.47413873e+02] [ 2.22139548e-02 9.99748212e-01 -3.17046312e-03 7.23978053e+00] [ 9.83723059e-02 9.70090165e-04 9.95149209e-01 1.20222885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12864 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:147.47, Y:7.24, Z:12.03 [[ 9.94764970e-01 -2.78379577e-02 -9.83244799e-02 1.47472708e+02] [ 2.76556787e-02 9.99612333e-01 -3.21654795e-03 7.24162439e+00] [ 9.83759049e-02 4.80478998e-04 9.95149210e-01 1.20289714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:147.53, Y:7.25, Z:12.01 [[ 9.94650266e-01 -3.16767628e-02 -9.83230963e-02 1.47533439e+02] [ 3.15090647e-02 9.99498155e-01 -3.25830194e-03 7.24554102e+00] [ 9.83769659e-02 1.42802083e-04 9.95149211e-01 1.20085046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24864 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:147.59, Y:7.25, Z:12.04 [[ 9.94677107e-01 -3.08273639e-02 -9.83215510e-02 1.47589894e+02] [ 3.06509805e-02 9.99524687e-01 -3.30428770e-03 7.24870039e+00] [ 9.83766799e-02 2.73047391e-04 9.95149212e-01 1.20376144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:147.65, Y:7.25, Z:12.02 [[ 9.94544282e-01 -3.48512068e-02 -9.83212313e-02 1.47650277e+02] [ 3.46934986e-02 9.99392506e-01 -3.31377279e-03 7.24977061e+00] [ 9.83769907e-02 -1.15413722e-04 9.95149212e-01 1.20226275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36864 meters Centerline goodness : 0.997252 with order 1 Centerline is valid? [True, True] Translation: X:147.71, Y:7.25, Z:12.05 [[ 9.94418969e-01 -3.82642694e-02 -9.83196787e-02 1.47706373e+02] [ 3.81187079e-02 9.99267572e-01 -3.35921870e-03 7.24999318e+00] [ 9.83762046e-02 -4.07348321e-04 9.95149213e-01 1.20521619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42864 meters Centerline goodness : 0.997597 with order 1 Centerline is valid? [True, True] Translation: X:147.77, Y:7.25, Z:12.06 [[ 9.94409069e-01 -3.85246204e-02 -9.83181409e-02 1.47765008e+02] [ 3.83759363e-02 9.99257576e-01 -3.40364188e-03 7.25128629e+00] [ 9.83762712e-02 -3.88438355e-04 9.95149214e-01 1.20554511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.48863999999998 meters Centerline goodness : 0.937601 with order 3 Centerline is valid? [True, False] Translation: X:147.81, Y:7.27, Z:12.06 [[ 9.92917302e-01 -2.95280633e-02 -1.15079644e-01 1.47810956e+02] [ 2.68846891e-02 9.99339363e-01 -2.44550894e-02 7.26933496e+00] [ 1.15725730e-01 2.11880009e-02 9.93055197e-01 1.20631324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54863999999998 meters Centerline goodness : 0.998479 with order 1 Centerline is valid? [False, True] Translation: X:147.86, Y:7.28, Z:12.07 [[ 9.91463221e-01 -1.68596531e-02 -1.29292047e-01 1.47857097e+02] [ 1.15251603e-02 9.99055458e-01 -4.18970539e-02 7.28347006e+00] [ 1.29876295e-01 4.00492765e-02 9.90721052e-01 1.20699128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60863999999998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:147.92, Y:7.25, Z:12.05 [[ 9.91404698e-01 -1.61103906e-02 -1.29835205e-01 1.47920480e+02] [ 1.60646323e-02 9.99869976e-01 -1.39980438e-03 7.24809158e+00] [ 1.29840874e-01 -6.97982183e-04 9.91534599e-01 1.20522640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66863999999998 meters Centerline goodness : 0.997689 with order 1 Centerline is valid? [True, True] Translation: X:147.98, Y:7.24, Z:12.08 [[ 9.91311455e-01 -2.10815433e-02 -1.29835160e-01 1.47975469e+02] [ 2.10776896e-02 9.99776855e-01 -1.40396467e-03 7.24371189e+00] [ 1.29835785e-01 -1.34485893e-03 9.91534599e-01 1.20823130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.72863999999998 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:148.04, Y:7.24, Z:12.07 [[ 9.91229144e-01 -2.46510562e-02 -1.29834931e-01 1.48036945e+02] [ 2.46749619e-02 9.99694511e-01 -1.42476483e-03 7.23968965e+00] [ 1.29830390e-01 -1.79140356e-03 9.91534599e-01 1.20688291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:148.10, Y:7.23, Z:12.07 [[ 9.91193238e-01 -2.60582165e-02 -1.29834261e-01 1.48095184e+02] [ 2.60864514e-02 9.99658590e-01 -1.48347396e-03 7.23231440e+00] [ 1.29828591e-01 -1.91650578e-03 9.91534601e-01 1.20741444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84864 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:148.15, Y:7.23, Z:12.08 [[ 9.91235769e-01 -2.43903795e-02 -1.29833585e-01 1.48152989e+02] [ 2.43969070e-02 9.99701164e-01 -1.54046342e-03 7.23023556e+00] [ 1.29832358e-01 -1.64057545e-03 9.91534602e-01 1.20818426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90864 meters Centerline goodness : 0.997300 with order 1 Centerline is valid? [True, True] Translation: X:148.21, Y:7.23, Z:12.12 [[ 9.91340422e-01 -1.96880886e-02 -1.29832765e-01 1.48208959e+02] [ 1.96457841e-02 9.99805712e-01 -1.60670979e-03 7.22917394e+00] [ 1.29839173e-01 -9.57870113e-04 9.91534604e-01 1.21169574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96864 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:148.27, Y:7.23, Z:12.12 [[ 9.91420091e-01 -1.51543860e-02 -1.29832765e-01 1.48268431e+02] [ 1.50733693e-02 9.99885099e-01 -1.60670979e-03 7.23125791e+00] [ 1.29842196e-01 -3.64092854e-04 9.91534604e-01 1.21203986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:148.33, Y:7.23, Z:12.11 [[ 9.91425013e-01 -1.48298649e-02 -1.29832658e-01 1.48329623e+02] [ 1.47449477e-02 9.99889983e-01 -1.61533546e-03 7.23181188e+00] [ 1.29842329e-01 -3.12891780e-04 9.91534604e-01 1.21062638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08864 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:148.38, Y:7.24, Z:12.14 [[ 9.91492974e-01 -9.23965997e-03 -1.29831857e-01 1.48384491e+02] [ 9.09889467e-03 9.99957197e-01 -1.67735687e-03 7.23520301e+00] [ 1.29841798e-01 4.81761165e-04 9.91534606e-01 1.21357859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14864 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:148.44, Y:7.24, Z:12.15 [[ 9.91527301e-01 -4.18414995e-03 -1.29831058e-01 1.48443415e+02] [ 3.99241207e-03 9.99990522e-01 -1.73706298e-03 7.24287705e+00] [ 1.29837096e-01 1.20400629e-03 9.91534608e-01 1.21458711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20864 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:148.50, Y:7.25, Z:12.15 [[ 9.91524175e-01 -4.87060982e-03 -1.29830999e-01 1.48503234e+02] [ 4.68415245e-03 9.99987513e-01 -1.74148400e-03 7.24786935e+00] [ 1.29837860e-01 1.11857529e-03 9.91534608e-01 1.21483706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26863999999998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:148.56, Y:7.26, Z:12.16 [[ 9.91518853e-01 -5.85614309e-03 -1.29830930e-01 1.48561458e+02] [ 5.67742780e-03 9.99982358e-01 -1.74660287e-03 7.25526695e+00] [ 1.29838868e-01 9.94683944e-04 9.91534608e-01 1.21559134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:148.62, Y:7.26, Z:12.17 [[ 9.91412029e-01 -1.56952817e-02 -1.29830073e-01 1.48620305e+02] [ 1.55925007e-02 9.99876795e-01 -1.80817231e-03 7.26014476e+00] [ 1.29842457e-01 -2.31731730e-04 9.91534610e-01 1.21656954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:148.68, Y:7.27, Z:12.17 [[ 9.91478179e-01 -1.07333922e-02 -1.29829949e-01 1.48678746e+02] [ 1.05870937e-02 9.99942304e-01 -1.81699598e-03 7.26839737e+00] [ 1.29841961e-01 4.26990020e-04 9.91534610e-01 1.21732995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44863999999998 meters Centerline goodness : 0.982847 with order 1 Centerline is valid? [True, True] Translation: X:148.74, Y:7.31, Z:12.17 [[ 9.90302807e-01 4.94427139e-02 -1.29829767e-01 1.48738475e+02] [-5.01039834e-02 9.98742330e-01 -1.82996645e-03 7.30781182e+00] [ 1.29576005e-01 8.31720939e-03 9.91534610e-01 1.21678649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50863999999999 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:148.80, Y:7.27, Z:12.20 [[ 9.91162921e-01 -2.72125373e-02 -1.29828891e-01 1.48795927e+02] [ 2.71973754e-02 9.99628296e-01 -1.89012061e-03 7.27167948e+00] [ 1.29832068e-01 -1.65758762e-03 9.91534612e-01 1.21988364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:148.86, Y:7.27, Z:12.18 [[ 9.91256573e-01 -2.35558620e-02 -1.29828841e-01 1.48859113e+02] [ 2.35090243e-02 9.99721831e-01 -1.89352926e-03 7.27345417e+00] [ 1.29837331e-01 -1.17517606e-03 9.91534612e-01 1.21757793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62864 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:148.92, Y:7.27, Z:12.21 [[ 9.91139809e-01 -2.80422647e-02 -1.29828773e-01 1.48915201e+02] [ 2.80331313e-02 9.99605192e-01 -1.89819950e-03 7.27436293e+00] [ 1.29830745e-01 -1.75812596e-03 9.91534612e-01 1.22117620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.68864 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:148.97, Y:7.28, Z:12.22 [[ 9.91167295e-01 -2.70536170e-02 -1.29828713e-01 1.48973537e+02] [ 2.70354992e-02 9.99632664e-01 -1.90232644e-03 7.27519883e+00] [ 1.29832487e-01 -1.62446031e-03 9.91534612e-01 1.22166763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74864 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:149.03, Y:7.28, Z:12.23 [[ 9.91143890e-01 -2.79020690e-02 -1.29827827e-01 1.49031449e+02] [ 2.78835155e-02 9.99609256e-01 -1.96098519e-03 7.27678607e+00] [ 1.29831813e-01 -1.67643773e-03 9.91534614e-01 1.22254977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.80864 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:149.09, Y:7.28, Z:12.23 [[ 9.91011587e-01 -3.22645814e-02 -1.29826929e-01 1.49089721e+02] [ 3.22757285e-02 9.99476964e-01 -2.01872545e-03 7.27569889e+00] [ 1.29824158e-01 -2.18967841e-03 9.91534615e-01 1.22340263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.86864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.15, Y:7.27, Z:12.21 [[ 9.90948747e-01 -3.41435705e-02 -1.29826030e-01 1.49152862e+02] [ 3.41633988e-02 9.99414107e-01 -2.07499832e-03 7.27403438e+00] [ 1.29820814e-01 -2.37908145e-03 9.91534617e-01 1.22149833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92864 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:149.21, Y:7.27, Z:12.25 [[ 9.90871684e-01 -3.63116093e-02 -1.29825936e-01 1.49208579e+02] [ 3.63491897e-02 9.99336983e-01 -2.08087353e-03 7.27117662e+00] [ 1.29815419e-01 -2.65718891e-03 9.91534617e-01 1.22504851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98863999999998 meters Centerline goodness : 0.997940 with order 1 Centerline is valid? [True, True] Translation: X:149.27, Y:7.27, Z:12.26 [[ 9.90968392e-01 -3.35694125e-02 -1.29825806e-01 1.49266560e+02] [ 3.35825073e-02 9.99433765e-01 -2.08896177e-03 7.26929053e+00] [ 1.29822419e-01 -2.28978098e-03 9.91534617e-01 1.22576412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04863999999998 meters Centerline goodness : 0.993860 with order 1 Centerline is valid? [True, True] Translation: X:149.32, Y:7.27, Z:12.27 [[ 9.91079932e-01 -3.01016349e-02 -1.29824725e-01 1.49324788e+02] [ 3.00765726e-02 9.99545276e-01 -2.15413081e-03 7.26962655e+00] [ 1.29830533e-01 -1.76976694e-03 9.91534619e-01 1.22735306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.10863999999998 meters Centerline goodness : 0.996512 with order 1 Centerline is valid? [True, True] Translation: X:149.38, Y:7.27, Z:12.28 [[ 9.91132239e-01 -2.83276513e-02 -1.29824611e-01 1.49384959e+02] [ 2.82865442e-02 9.99597520e-01 -2.16094728e-03 7.27010438e+00] [ 1.29833574e-01 -1.53050509e-03 9.91534619e-01 1.22777103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16863999999998 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:149.45, Y:7.27, Z:12.28 [[ 9.91245662e-01 -2.40338452e-02 -1.29824541e-01 1.49446154e+02] [ 2.39555167e-02 9.99710681e-01 -2.16515071e-03 7.27371238e+00] [ 1.29839017e-01 -9.63817717e-04 9.91534619e-01 1.22760164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.51, Y:7.27, Z:12.26 [[ 9.91053019e-01 -3.09761399e-02 -1.29824471e-01 1.49507194e+02] [ 3.09565518e-02 9.99518377e-01 -2.16936766e-03 7.27316867e+00] [ 1.29829143e-01 -1.86895958e-03 9.91534619e-01 1.22615911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28864 meters Centerline goodness : 0.996604 with order 1 Centerline is valid? [True, True] Translation: X:149.56, Y:7.27, Z:12.30 [[ 9.90777499e-01 -3.88047266e-02 -1.29823497e-01 1.49562351e+02] [ 3.88445778e-02 9.99242785e-01 -2.22617211e-03 7.26806363e+00] [ 1.29811578e-01 -2.83729768e-03 9.91534621e-01 1.22985636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34864 meters Centerline goodness : 0.965243 with order 1 Centerline is valid? [True, True] Translation: X:149.62, Y:7.31, Z:12.28 [[ 9.90842094e-01 3.71192801e-02 -1.29823357e-01 1.49623525e+02] [-3.77283346e-02 9.99285535e-01 -2.23428525e-03 7.30500126e+00] [ 1.29647668e-01 7.11184293e-03 9.91534621e-01 1.22829364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40864 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:149.68, Y:7.26, Z:12.31 [[ 9.90414967e-01 -4.71608027e-02 -1.29823152e-01 1.49679940e+02] [ 4.72694466e-02 9.98879650e-01 -2.24612227e-03 7.25830727e+00] [ 1.29783634e-01 -3.91207544e-03 9.91534621e-01 1.23112680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46864 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:149.74, Y:7.25, Z:12.31 [[ 9.90787907e-01 -3.85401845e-02 -1.29822873e-01 1.49738692e+02] [ 3.85730636e-02 9.99253222e-01 -2.26214830e-03 7.25493681e+00] [ 1.29813108e-01 -2.76635677e-03 9.91534621e-01 1.23145105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.80, Y:7.24, Z:12.30 [[ 9.90289616e-01 -4.97267655e-02 -1.29821898e-01 1.49799804e+02] [ 4.98480852e-02 9.98754124e-01 -2.31679637e-03 7.24338257e+00] [ 1.29775363e-01 -4.17707366e-03 9.91534622e-01 1.23009446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58864 meters Centerline goodness : 0.998621 with order 1 Centerline is valid? [True, True] Translation: X:149.85, Y:7.24, Z:12.33 [[ 9.90266120e-01 -5.01950738e-02 -1.29820899e-01 1.49854619e+02] [ 5.03132344e-02 9.98730672e-01 -2.37148521e-03 7.23731028e+00] [ 1.29775151e-01 -4.18330787e-03 9.91534624e-01 1.23326145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64864 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:149.91, Y:7.24, Z:12.34 [[ 9.90390004e-01 -4.76915743e-02 -1.29819695e-01 1.49912681e+02] [ 4.77799255e-02 9.98854917e-01 -2.43570804e-03 7.23520276e+00] [ 1.29787203e-01 -3.79047444e-03 9.91534626e-01 1.23389238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:149.97, Y:7.23, Z:12.32 [[ 9.90778175e-01 -3.88037924e-02 -1.29818621e-01 1.49974596e+02] [ 3.88088679e-02 9.99243546e-01 -2.49162842e-03 7.23458885e+00] [ 1.29817104e-01 -2.56946268e-03 9.91534627e-01 1.23225732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.03, Y:7.23, Z:12.33 [[ 9.91036892e-01 -3.15161518e-02 -1.29817608e-01 1.50032982e+02] [ 3.14521939e-02 9.99502021e-01 -2.54336045e-03 7.23495383e+00] [ 1.29833119e-01 -1.56248455e-03 9.91534629e-01 1.23289595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82863999999998 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:150.09, Y:7.24, Z:12.36 [[ 9.91064056e-01 -3.06549596e-02 -1.29816451e-01 1.50088184e+02] [ 3.05760810e-02 9.99529058e-01 -2.60111903e-03 7.23728846e+00] [ 1.29835052e-01 -1.39140275e-03 9.91534630e-01 1.23618369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88863999999998 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:150.15, Y:7.24, Z:12.37 [[ 9.91179607e-01 -2.66643891e-02 -1.29815246e-01 1.50146248e+02] [ 2.65437219e-02 9.99644114e-01 -2.65996353e-03 7.24190269e+00] [ 1.29839972e-01 -8.09278162e-04 9.91534632e-01 1.23706899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94863999999998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:150.21, Y:7.25, Z:12.37 [[ 9.91237673e-01 -2.44171942e-02 -1.29814007e-01 1.50205935e+02] [ 2.42695898e-02 9.99701752e-01 -2.71912166e-03 7.24548153e+00] [ 1.29841683e-01 -4.55236870e-04 9.91534634e-01 1.23738304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00863999999999 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:150.26, Y:7.25, Z:12.38 [[ 9.91162483e-01 -2.73002348e-02 -1.29813829e-01 1.50263957e+02] [ 2.71761455e-02 9.99626939e-01 -2.72755508e-03 7.24807509e+00] [ 1.29839864e-01 -8.24389252e-04 9.91534634e-01 1.23819937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.33, Y:7.25, Z:12.37 [[ 9.91167555e-01 -2.71215245e-02 -1.29812561e-01 1.50325930e+02] [ 2.69881708e-02 9.99631869e-01 -2.78664028e-03 7.24884260e+00] [ 1.29840351e-01 -7.41376143e-04 9.91534636e-01 1.23667295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:150.38, Y:7.25, Z:12.38 [[ 9.91081635e-01 -3.00987902e-02 -1.29812382e-01 1.50383745e+02] [ 2.99897748e-02 9.99546298e-01 -2.79495091e-03 7.25018853e+00] [ 1.29837611e-01 -1.12301960e-03 9.91534636e-01 1.23754344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:150.44, Y:7.25, Z:12.38 [[ 9.91007756e-01 -3.24454093e-02 -1.29811102e-01 1.50442180e+02] [ 3.23488081e-02 9.99472568e-01 -2.85319846e-03 7.24818353e+00] [ 1.29835209e-01 -1.37169264e-03 9.91534637e-01 1.23824982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:150.50, Y:7.25, Z:12.39 [[ 9.90894283e-01 -3.57482401e-02 -1.29809798e-01 1.50499246e+02] [ 3.56722326e-02 9.99359303e-01 -2.91137423e-03 7.24834670e+00] [ 1.29830705e-01 -1.74574122e-03 9.91534639e-01 1.23896711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30864 meters Centerline goodness : 0.947966 with order 3 Centerline is valid? [True, False] Translation: X:150.50, Y:7.26, Z:12.39 [[ 9.91886052e-01 -3.40828173e-02 -1.22476210e-01 1.50495184e+02] [ 3.20071907e-02 9.99309390e-01 -1.88754479e-02 7.25659241e+00] [ 1.23034956e-01 1.48021741e-02 9.92291941e-01 1.23902930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36864 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [False, True] Translation: X:150.50, Y:7.26, Z:12.39 [[ 9.93014330e-01 -2.47405408e-02 -1.15370907e-01 1.50495658e+02] [ 2.17334947e-02 9.99392367e-01 -2.72498154e-02 7.26220477e+00] [ 1.15974979e-01 2.45520442e-02 9.92948640e-01 1.23891989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:150.55, Y:7.24, Z:12.39 [[ 9.93054564e-01 -2.22646323e-02 -1.15528863e-01 1.50554314e+02] [ 2.23561394e-02 9.99749943e-01 -5.03757724e-04 7.23573389e+00] [ 1.15511191e-01 -2.08252047e-03 9.93303996e-01 1.23905560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:150.61, Y:7.23, Z:12.40 [[ 9.93018766e-01 -2.38091817e-02 -1.15528578e-01 1.50612974e+02] [ 2.39042787e-02 9.99714094e-01 -5.62432805e-04 7.23054334e+00] [ 1.15508939e-01 -2.20312100e-03 9.93303997e-01 1.23966978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:150.67, Y:7.23, Z:12.40 [[ 9.93081621e-01 -2.10262606e-02 -1.15528311e-01 1.50670734e+02] [ 2.10967280e-02 9.99777251e-01 -6.12872580e-04 7.22750209e+00] [ 1.15515463e-01 -1.82863685e-03 9.93303999e-01 1.24048318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:150.73, Y:7.23, Z:12.41 [[ 9.93119132e-01 -1.91735008e-02 -1.15528211e-01 1.50729220e+02] [ 1.92293485e-02 9.99814900e-01 -6.31170124e-04 7.22567899e+00] [ 1.15518928e-01 -1.59470510e-03 9.93303999e-01 1.24123647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66863999999998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:150.79, Y:7.22, Z:12.42 [[ 9.93162853e-01 -1.67586108e-02 -1.15527905e-01 1.50788442e+02] [ 1.67921683e-02 9.99858768e-01 -6.82832360e-04 7.22165849e+00] [ 1.15523033e-01 -1.26180030e-03 9.93304000e-01 1.24166813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72863999999998 meters Centerline goodness : 0.995139 with order 1 Centerline is valid? [True, True] Translation: X:150.85, Y:7.22, Z:12.45 [[ 9.93164281e-01 -1.66758689e-02 -1.15527601e-01 1.50845190e+02] [ 1.67032653e-02 9.99860224e-01 -7.31007921e-04 7.21848081e+00] [ 1.15523643e-01 -1.20367720e-03 9.93304001e-01 1.24451688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78864 meters Centerline goodness : 0.995143 with order 1 Centerline is valid? [True, True] Translation: X:150.90, Y:7.22, Z:12.45 [[ 9.93164785e-01 -1.66461075e-02 -1.15527559e-01 1.50902748e+02] [ 1.66725432e-02 9.99860731e-01 -7.37542534e-04 7.21673345e+00] [ 1.15523747e-01 -1.19363694e-03 9.93304001e-01 1.24509508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84864 meters Centerline goodness : 0.995911 with order 1 Centerline is valid? [True, True] Translation: X:150.96, Y:7.22, Z:12.46 [[ 9.93230166e-01 -1.21373827e-02 -1.15527143e-01 1.50960770e+02] [ 1.21264141e-02 9.99926154e-01 -7.97786662e-04 7.21858372e+00] [ 1.15528295e-01 -6.08544205e-04 9.93304003e-01 1.24562444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90864 meters Centerline goodness : 0.995126 with order 1 Centerline is valid? [True, True] Translation: X:151.02, Y:7.22, Z:12.46 [[ 9.93245880e-01 -1.07798647e-02 -1.15526695e-01 1.51019385e+02] [ 1.07527279e-02 9.99941820e-01 -8.58112372e-04 7.22235148e+00] [ 1.15529224e-01 -3.89910536e-04 9.93304005e-01 1.24622931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96864 meters Centerline goodness : 0.999655 with order 1 Centerline is valid? [True, True] Translation: X:151.08, Y:7.23, Z:12.45 [[ 9.93249344e-01 -1.04603762e-02 -1.15526277e-01 1.51081395e+02] [ 1.04249147e-02 9.99945244e-01 -9.11167251e-04 7.22552150e+00] [ 1.15529482e-01 -2.99335309e-04 9.93304006e-01 1.24503772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02864 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:151.14, Y:7.23, Z:12.46 [[ 9.93232158e-01 -1.19818984e-02 -1.15526247e-01 1.51139228e+02] [ 1.19562570e-02 9.99928103e-01 -9.14926320e-04 7.23113981e+00] [ 1.15528904e-01 -4.72527255e-04 9.93304006e-01 1.24576393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08864 meters Centerline goodness : 0.998427 with order 1 Centerline is valid? [True, True] Translation: X:151.20, Y:7.24, Z:12.47 [[ 9.93262741e-01 -9.10581977e-03 -1.15525806e-01 1.51197406e+02] [ 9.05466450e-03 9.99958538e-01 -9.67587706e-04 7.24063920e+00] [ 1.15529827e-01 -8.49786004e-05 9.93304008e-01 1.24742882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14864 meters Centerline goodness : 0.996072 with order 1 Centerline is valid? [True, True] Translation: X:151.26, Y:7.24, Z:12.47 [[ 9.93200201e-01 -1.43930460e-02 -1.15525759e-01 1.51258548e+02] [ 1.43768859e-02 9.99896174e-01 -9.73164600e-04 7.24398777e+00] [ 1.15527772e-01 -6.94353390e-04 9.93304008e-01 1.24723363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20864 meters Centerline goodness : 0.996752 with order 1 Centerline is valid? [True, True] Translation: X:151.32, Y:7.25, Z:12.48 [[ 9.93094031e-01 -2.04463037e-02 -1.15525729e-01 1.51316346e+02] [ 2.04705317e-02 9.99789980e-01 -9.76810150e-04 7.24804544e+00] [ 1.15521438e-01 -1.39480876e-03 9.93304008e-01 1.24802575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26863999999998 meters Centerline goodness : 0.997789 with order 1 Centerline is valid? [True, True] Translation: X:151.38, Y:7.25, Z:12.48 [[ 9.92948004e-01 -2.66102337e-02 -1.15525571e-01 1.51375281e+02] [ 2.66738946e-02 9.99643693e-01 -9.95120857e-04 7.24627915e+00] [ 1.15510889e-01 -2.09341363e-03 9.93304008e-01 1.24847462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32863999999998 meters Centerline goodness : 0.995678 with order 1 Centerline is valid? [True, True] Translation: X:151.43, Y:7.25, Z:12.49 [[ 9.92781931e-01 -3.22178004e-02 -1.15525110e-01 1.51433164e+02] [ 3.23133519e-02 9.99477240e-01 -1.04606139e-03 7.24522671e+00] [ 1.15498420e-01 -2.69449267e-03 9.93304009e-01 1.24941920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38863999999998 meters Centerline goodness : 0.994443 with order 1 Centerline is valid? [True, True] Translation: X:151.49, Y:7.24, Z:12.50 [[ 9.92673281e-01 -3.54092730e-02 -1.15524632e-01 1.51491320e+02] [ 3.55204987e-02 9.99368347e-01 -1.09636084e-03 7.23702306e+00] [ 1.15490482e-01 -3.01516444e-03 9.93304011e-01 1.25013668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44863999999998 meters Centerline goodness : 0.996119 with order 1 Centerline is valid? [True, True] Translation: X:151.55, Y:7.23, Z:12.51 [[ 9.92716761e-01 -3.41702585e-02 -1.15524139e-01 1.51550346e+02] [ 3.42673461e-02 9.99412045e-01 -1.14607344e-03 7.23010974e+00] [ 1.15495378e-01 -2.82097936e-03 9.93304012e-01 1.25068698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50863999999999 meters Centerline goodness : 0.993450 with order 1 Centerline is valid? [True, True] Translation: X:151.61, Y:7.23, Z:12.54 [[ 9.92866709e-01 -2.94954308e-02 -1.15523664e-01 1.51607572e+02] [ 2.95556268e-02 9.99562426e-01 -1.19219193e-03 7.22723860e+00] [ 1.15508278e-01 -2.23068661e-03 9.93304013e-01 1.25354118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56864 meters Centerline goodness : 0.994827 with order 1 Centerline is valid? [True, True] Translation: X:151.67, Y:7.22, Z:12.52 [[ 9.93077880e-01 -2.12277011e-02 -1.15523629e-01 1.51669517e+02] [ 2.12317512e-02 9.99773866e-01 -1.19558526e-03 7.22390202e+00] [ 1.15522884e-01 -1.26545966e-03 9.93304013e-01 1.25220437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62864 meters Centerline goodness : 0.996265 with order 1 Centerline is valid? [True, True] Translation: X:151.73, Y:7.22, Z:12.53 [[ 9.93204625e-01 -1.41022616e-02 -1.15523588e-01 1.51728416e+02] [ 1.40578166e-02 9.99900465e-01 -1.19949017e-03 7.22148630e+00] [ 1.15529005e-01 -4.32670231e-04 9.93304013e-01 1.25257522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68864 meters Centerline goodness : 0.994797 with order 1 Centerline is valid? [True, True] Translation: X:151.79, Y:7.22, Z:12.53 [[ 9.93257575e-01 -9.68611948e-03 -1.15523025e-01 1.51786659e+02] [ 9.60585869e-03 9.99953080e-01 -1.25146569e-03 7.22084818e+00] [ 1.15529727e-01 1.33329926e-04 9.93304014e-01 1.25328337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74864 meters Centerline goodness : 0.993956 with order 1 Centerline is valid? [True, True] Translation: X:151.84, Y:7.23, Z:12.56 [[ 9.93304597e-01 7.38844703e-04 -1.15522429e-01 1.51843277e+02] [-8.95515433e-04 9.99998748e-01 -1.30429925e-03 7.22812023e+00] [ 1.15521320e-01 1.39901856e-03 9.93304016e-01 1.25648220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80864 meters Centerline goodness : 0.997386 with order 1 Centerline is valid? [True, True] Translation: X:151.90, Y:7.24, Z:12.56 [[ 9.93230214e-01 1.21789000e-02 -1.15522359e-01 1.51902070e+02] [-1.24133737e-02 9.99922092e-01 -1.31045342e-03 7.23841772e+00] [ 1.15497399e-01 2.73560415e-03 9.93304016e-01 1.25639883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86864 meters Centerline goodness : 0.997395 with order 1 Centerline is valid? [True, True] Translation: X:151.96, Y:7.24, Z:12.57 [[ 9.93184322e-01 1.54799738e-02 -1.15521740e-01 1.51960667e+02] [-1.57427881e-02 9.99875146e-01 -1.36294038e-03 7.24321883e+00] [ 1.15486218e-01 3.17228529e-03 9.93304017e-01 1.25702504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92864 meters Centerline goodness : 0.975381 with order 1 Centerline is valid? [True, True] Translation: X:152.02, Y:7.22, Z:12.56 [[ 9.91679948e-01 -5.67957471e-02 -1.15521097e-01 1.52020272e+02] [ 5.70141586e-02 9.98372367e-01 -1.41538331e-03 7.21831629e+00] [ 1.15413459e-01 -5.18273092e-03 9.93304018e-01 1.25615348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98863999999998 meters Centerline goodness : 0.981346 with order 1 Centerline is valid? [True, True] Translation: X:152.08, Y:7.23, Z:12.57 [[ 9.91690190e-01 -5.66182520e-02 -1.15520300e-01 1.52079030e+02] [ 5.68282193e-02 9.98382877e-01 -1.47771244e-03 7.22712601e+00] [ 1.15417155e-01 -5.09938003e-03 9.93304020e-01 1.25672484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04863999999998 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:152.14, Y:7.27, Z:12.58 [[ 9.93183080e-01 1.55754776e-02 -1.15519583e-01 1.52137915e+02] [-1.58585650e-02 9.99873072e-01 -1.53184222e-03 7.26799724e+00] [ 1.15481061e-01 3.35337459e-03 9.93304022e-01 1.25767672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10863999999998 meters Centerline goodness : 0.998234 with order 1 Centerline is valid? [True, True] Translation: X:152.20, Y:7.28, Z:12.60 [[ 9.93252456e-01 1.02368391e-02 -1.15519546e-01 1.52196031e+02] [-1.04842859e-02 9.99943861e-01 -1.53461692e-03 7.27658613e+00] [ 1.15497351e-01 2.73540197e-03 9.93304022e-01 1.25996032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16863999999998 meters Centerline goodness : 0.998280 with order 1 Centerline is valid? [True, True] Translation: X:152.25, Y:7.28, Z:12.61 [[ 9.93287376e-01 5.95210436e-03 -1.15519524e-01 1.52253234e+02] [-6.17087371e-03 9.99979780e-01 -1.53625071e-03 7.28030681e+00] [ 1.15508044e-01 2.23879484e-03 9.93304022e-01 1.26070791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22863999999998 meters Centerline goodness : 0.997394 with order 1 Centerline is valid? [True, True] Translation: X:152.31, Y:7.28, Z:12.62 [[ 9.93303224e-01 -2.03487791e-03 -1.15518673e-01 1.52311001e+02] [ 1.86277159e-03 9.99996989e-01 -1.59779154e-03 7.28393173e+00] [ 1.15521577e-01 1.37190659e-03 9.93304024e-01 1.26171673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28864 meters Centerline goodness : 0.996605 with order 1 Centerline is valid? [True, True] Translation: X:152.37, Y:7.29, Z:12.63 [[ 9.93212477e-01 -1.35864859e-02 -1.15517892e-01 1.52368427e+02] [ 1.34858824e-02 9.99907696e-01 -1.65242977e-03 7.28525661e+00] [ 1.15529680e-01 8.33531609e-05 9.93304025e-01 1.26281909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34864 meters Centerline goodness : 0.995334 with order 1 Centerline is valid? [True, True] Translation: X:152.43, Y:7.28, Z:12.63 [[ 9.93074455e-01 -2.14225824e-02 -1.15517097e-01 1.52425695e+02] [ 2.13685461e-02 9.99770211e-01 -1.70626232e-03 7.28477804e+00] [ 1.15527105e-01 -7.73986882e-04 9.93304026e-01 1.26343667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40864 meters Centerline goodness : 0.993863 with order 1 Centerline is valid? [True, True] Translation: X:152.49, Y:7.28, Z:12.62 [[ 9.92984747e-01 -2.52449480e-02 -1.15516169e-01 1.52487915e+02] [ 2.52096291e-02 9.99680625e-01 -1.76692340e-03 7.28472295e+00] [ 1.15523882e-01 -1.15759179e-03 9.93304028e-01 1.26193716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46864 meters Centerline goodness : 0.991850 with order 1 Centerline is valid? [True, True] Translation: X:152.55, Y:7.28, Z:12.63 [[ 9.92851916e-01 -3.00183746e-02 -1.15516102e-01 1.52545296e+02] [ 3.00147391e-02 9.99547887e-01 -1.77128272e-03 7.28123892e+00] [ 1.15517047e-01 -1.70856423e-03 9.93304028e-01 1.26269798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52864 meters Centerline goodness : 0.994490 with order 1 Centerline is valid? [True, True] Translation: X:152.60, Y:7.28, Z:12.65 [[ 9.92796995e-01 -3.17863004e-02 -1.15515180e-01 1.52602278e+02] [ 3.17878159e-02 9.99492965e-01 -1.82950462e-03 7.27934319e+00] [ 1.15514763e-01 -1.85564860e-03 9.93304030e-01 1.26547287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58864 meters Centerline goodness : 0.994407 with order 1 Centerline is valid? [True, True] Translation: X:152.66, Y:7.28, Z:12.66 [[ 9.92882826e-01 -2.89818815e-02 -1.15515126e-01 1.52660350e+02] [ 2.89640823e-02 9.99578772e-01 -1.83295188e-03 7.27677992e+00] [ 1.15519590e-01 -1.52588317e-03 9.93304030e-01 1.26571092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64864 meters Centerline goodness : 0.956063 with order 3 Centerline is valid? [True, True] Translation: X:152.84, Y:7.31, Z:12.64 [[ 9.91513854e-01 5.96385196e-02 -1.15514175e-01 1.52837826e+02] [-6.02598483e-02 9.98180933e-01 -1.89103442e-03 7.31490470e+00] [ 1.15191269e-01 8.83585349e-03 9.93304032e-01 1.26445114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70863999999997 meters Centerline goodness : 0.992395 with order 1 Centerline is valid? [True, True] Translation: X:152.77, Y:7.21, Z:12.64 [[ 9.92620310e-01 -3.13846175e-02 -1.17132083e-01 1.52767495e+02] [ 3.93513123e-02 9.97021234e-01 6.63335061e-02 7.20704149e+00] [ 1.14701323e-01 -7.04532866e-02 9.90898552e-01 1.26382035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76863999999998 meters Centerline goodness : 0.992376 with order 1 Centerline is valid? [True, True] Translation: X:152.82, Y:7.27, Z:12.68 [[ 9.92671018e-01 -3.80070273e-02 -1.14715806e-01 1.52820505e+02] [ 3.77530453e-02 9.99277472e-01 -4.38659842e-03 7.27198037e+00] [ 1.14799642e-01 2.35780873e-05 9.93388666e-01 1.26796350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82863999999998 meters Centerline goodness : 0.994458 with order 1 Centerline is valid? [True, True] Translation: X:152.88, Y:7.28, Z:12.69 [[ 9.92758267e-01 -3.56560157e-02 -1.14715613e-01 1.52878380e+02] [ 3.53858057e-02 9.99364077e-01 -4.39164323e-03 7.28077251e+00] [ 1.14799251e-01 3.00535726e-04 9.93388666e-01 1.26862122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88863999999998 meters Centerline goodness : 0.992243 with order 1 Centerline is valid? [True, True] Translation: X:152.94, Y:7.29, Z:12.70 [[ 9.92857853e-01 -3.27731164e-02 -1.14713584e-01 1.52936409e+02] [ 3.24776747e-02 9.99462581e-01 -4.44401654e-03 7.29119361e+00] [ 1.14797579e-01 6.86646240e-04 9.93388667e-01 1.26987767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94863999999998 meters Centerline goodness : 0.990084 with order 1 Centerline is valid? [True, True] Translation: X:152.99, Y:7.30, Z:12.71 [[ 9.92781288e-01 -3.50162893e-02 -1.14713440e-01 1.52994047e+02] [ 3.47353410e-02 9.99386649e-01 -4.44773965e-03 7.30233950e+00] [ 1.14798824e-01 4.31022249e-04 9.93388667e-01 1.27087691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00863999999999 meters Centerline goodness : 0.991982 with order 1 Centerline is valid? [True, True] Translation: X:153.05, Y:7.31, Z:12.71 [[ 9.92692757e-01 -3.74486757e-02 -1.14711321e-01 1.53052408e+02] [ 3.71776726e-02 9.99298531e-01 -4.50173776e-03 7.30786111e+00] [ 1.14799439e-01 2.04142524e-04 9.93388669e-01 1.27132860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06864 meters Centerline goodness : 0.990771 with order 1 Centerline is valid? [True, True] Translation: X:153.11, Y:7.31, Z:12.72 [[ 9.92182688e-01 -4.91457396e-02 -1.14709239e-01 1.53110091e+02] [ 4.89465479e-02 9.98791017e-01 -4.55417345e-03 7.31092940e+00] [ 1.14794376e-01 -1.09604923e-03 9.93388670e-01 1.27203080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12864 meters Centerline goodness : 0.971591 with order 1 Centerline is valid? [True, True] Translation: X:153.17, Y:7.35, Z:12.68 [[ 9.92599094e-01 3.98671632e-02 -1.14706791e-01 1.53171721e+02] [-4.06640905e-02 9.99162216e-01 -4.61503845e-03 7.34507364e+00] [ 1.14426703e-01 9.24533031e-03 9.93388672e-01 1.26818463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18864 meters Centerline goodness : 0.990903 with order 1 Centerline is valid? [True, True] Translation: X:153.23, Y:7.34, Z:12.70 [[ 9.93057397e-01 -2.60736078e-02 -1.14704725e-01 1.53231538e+02] [ 2.57079934e-02 9.99658606e-01 -4.66583569e-03 7.33512893e+00] [ 1.14787220e-01 1.68461433e-03 9.93388673e-01 1.26956382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24864 meters Centerline goodness : 0.994211 with order 1 Centerline is valid? [True, True] Translation: X:153.29, Y:7.33, Z:12.71 [[ 9.91954766e-01 -5.35590211e-02 -1.14704725e-01 1.53290494e+02] [ 5.33763187e-02 9.98563568e-01 -4.66583569e-03 7.33382280e+00] [ 1.14789857e-01 -1.49421800e-03 9.93388673e-01 1.27111573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30864 meters Centerline goodness : 0.991383 with order 1 Centerline is valid? [True, True] Translation: X:153.35, Y:7.34, Z:12.75 [[ 9.91617326e-01 -5.94805730e-02 -1.14704580e-01 1.53346652e+02] [ 5.93369213e-02 9.98227092e-01 -4.66938821e-03 7.34120696e+00] [ 1.14778957e-01 -2.17597039e-03 9.93388673e-01 1.27498057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36864 meters Centerline goodness : 0.990440 with order 1 Centerline is valid? [True, True] Translation: X:153.41, Y:7.35, Z:12.76 [[ 9.91650888e-01 -5.89183773e-02 -1.14704580e-01 1.53405975e+02] [ 5.87709782e-02 9.98260572e-01 -4.66938821e-03 7.34679196e+00] [ 1.14780172e-01 -2.11089741e-03 9.93388673e-01 1.27587553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42864 meters Centerline goodness : 0.991637 with order 1 Centerline is valid? [True, True] Translation: X:153.46, Y:7.35, Z:12.77 [[ 9.91610299e-01 -5.95978812e-02 -1.14704435e-01 1.53463014e+02] [ 5.94545995e-02 9.98220073e-01 -4.67295038e-03 7.35199041e+00] [ 1.14778767e-01 -2.18596052e-03 9.93388673e-01 1.27662159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48863999999998 meters Centerline goodness : 0.997053 with order 1 Centerline is valid? [True, True] Translation: X:153.52, Y:7.36, Z:12.76 [[ 9.92655258e-01 -3.84575827e-02 -1.14702015e-01 1.53523952e+02] [ 3.81667294e-02 9.99260183e-01 -4.73162123e-03 7.36101901e+00] [ 1.14799123e-01 3.19067933e-04 9.93388675e-01 1.27628955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54863999999998 meters Centerline goodness : 0.992293 with order 1 Centerline is valid? [True, True] Translation: X:153.58, Y:7.36, Z:12.78 [[ 9.91997228e-01 -5.27728117e-02 -1.14701920e-01 1.53582364e+02] [ 5.25770009e-02 9.98605652e-01 -4.73391363e-03 7.35905518e+00] [ 1.14791808e-01 -1.33465377e-03 9.93388675e-01 1.27790967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60863999999998 meters Centerline goodness : 0.987897 with order 1 Centerline is valid? [True, True] Translation: X:153.64, Y:7.36, Z:12.79 [[ 9.91900014e-01 -5.45701469e-02 -1.14701616e-01 1.53640386e+02] [ 5.43854588e-02 9.98508759e-01 -4.74127887e-03 7.35860105e+00] [ 1.14789300e-01 -1.53522542e-03 9.93388675e-01 1.27879141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66863999999998 meters Centerline goodness : 0.984955 with order 1 Centerline is valid? [True, True] Translation: X:153.70, Y:7.37, Z:12.80 [[ 9.92313287e-01 -4.64583288e-02 -1.14699451e-01 1.53699000e+02] [ 4.62136237e-02 9.98920081e-01 -4.79308938e-03 7.36799142e+00] [ 1.14798264e-01 -5.44430987e-04 9.93388676e-01 1.28014335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72863999999998 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:153.76, Y:7.37, Z:12.77 [[ 9.92543411e-01 -4.12510423e-02 -1.14699295e-01 1.53762725e+02] [ 4.09712443e-02 9.99148812e-01 -4.79681486e-03 7.37072034e+00] [ 1.14799538e-01 6.16741435e-05 9.93388676e-01 1.27727923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78864 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:153.82, Y:7.37, Z:12.78 [[ 9.92432586e-01 -4.38370501e-02 -1.14699065e-01 1.53820074e+02] [ 4.35738288e-02 9.99038668e-01 -4.80231000e-03 7.37300932e+00] [ 1.14799320e-01 -2.31908496e-04 9.93388676e-01 1.27800885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84864 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:153.88, Y:7.37, Z:12.79 [[ 9.92204082e-01 -4.87417388e-02 -1.14696569e-01 1.53878455e+02] [ 4.85043631e-02 9.98811141e-01 -4.86121515e-03 7.37221994e+00] [ 1.14797155e-01 -7.39966494e-04 9.93388678e-01 1.27879001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90864 meters Centerline goodness : 0.967753 with order 1 Centerline is valid? [True, True] Translation: X:153.94, Y:7.34, Z:12.80 [[ 9.84627144e-01 -1.31736821e-01 -1.14694369e-01 1.53939008e+02] [ 1.32048149e-01 9.91231130e-01 -4.91258361e-03 7.33551804e+00] [ 1.14335797e-01 -1.03081159e-02 9.93388679e-01 1.27987922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96864 meters Centerline goodness : 0.990788 with order 1 Centerline is valid? [True, True] Translation: X:153.99, Y:7.37, Z:12.83 [[ 9.91775943e-01 -5.67953612e-02 -1.14694226e-01 1.53993600e+02] [ 5.66053094e-02 9.98384532e-01 -4.91590525e-03 7.37135251e+00] [ 1.14788142e-01 -1.61682560e-03 9.93388679e-01 1.28283166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02864 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:154.06, Y:7.37, Z:12.81 [[ 9.92065763e-01 -5.14905107e-02 -1.14691974e-01 1.54055891e+02] [ 5.12591076e-02 9.98673031e-01 -4.96790388e-03 7.37356504e+00] [ 1.14795581e-01 -9.50520888e-04 9.93388681e-01 1.28104547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08864 meters Centerline goodness : 0.991557 with order 1 Centerline is valid? [True, True] Translation: X:154.11, Y:7.38, Z:12.84 [[ 9.91965877e-01 -5.33805879e-02 -1.14691813e-01 1.54112884e+02] [ 5.31613455e-02 9.98573560e-01 -4.97161042e-03 7.37665089e+00] [ 1.14793600e-01 -1.16550323e-03 9.93388681e-01 1.28416114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14864 meters Centerline goodness : 0.990143 with order 1 Centerline is valid? [True, True] Translation: X:154.17, Y:7.38, Z:12.85 [[ 9.92007807e-01 -5.25959522e-02 -1.14691655e-01 1.54171076e+02] [ 5.23710606e-02 9.98615301e-01 -4.97526699e-03 7.37966596e+00] [ 1.14794520e-01 -1.07101991e-03 9.93388681e-01 1.28516058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20863999999997 meters Centerline goodness : 0.992394 with order 1 Centerline is valid? [True, True] Translation: X:154.23, Y:7.39, Z:12.85 [[ 9.91938154e-01 -5.38984741e-02 -1.14689379e-01 1.54230918e+02] [ 5.36762571e-02 9.98545736e-01 -5.02717905e-03 7.38527745e+00] [ 1.14793548e-01 -1.16944592e-03 9.93388682e-01 1.28547959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26863999999998 meters Centerline goodness : 0.993817 with order 1 Centerline is valid? [True, True] Translation: X:154.29, Y:7.39, Z:12.86 [[ 9.91681642e-01 -5.84289421e-02 -1.14689056e-01 1.54289070e+02] [ 5.82360578e-02 9.98290146e-01 -5.03454903e-03 7.38932495e+00] [ 1.14787118e-01 -1.68636865e-03 9.93388682e-01 1.28617519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32863999999998 meters Centerline goodness : 0.998529 with order 1 Centerline is valid? [True, True] Translation: X:154.35, Y:7.39, Z:12.85 [[ 9.91176201e-01 -6.64581806e-02 -1.14686745e-01 1.54350511e+02] [ 6.63127960e-02 9.97785918e-01 -5.08665218e-03 7.38676691e+00] [ 1.14770869e-01 -2.56343016e-03 9.93388683e-01 1.28478894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38863999999998 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:154.41, Y:7.39, Z:12.85 [[ 9.90726624e-01 -7.28547752e-02 -1.14686260e-01 1.54408522e+02] [ 7.27507963e-02 9.97337123e-01 -5.09756864e-03 7.38530841e+00] [ 1.14752247e-01 -3.29321976e-03 9.93388684e-01 1.28548911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44863999999998 meters Centerline goodness : 0.994098 with order 1 Centerline is valid? [True, True] Translation: X:154.47, Y:7.38, Z:12.88 [[ 9.90431824e-01 -7.67617857e-02 -1.14684047e-01 1.54465588e+02] [ 7.66781768e-02 9.97042610e-01 -5.14687749e-03 7.38080893e+00] [ 1.14739965e-01 -3.69613238e-03 9.93388685e-01 1.28817543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50863999999999 meters Centerline goodness : 0.998430 with order 1 Centerline is valid? [True, True] Translation: X:154.53, Y:7.38, Z:12.87 [[ 9.90609851e-01 -7.44295947e-02 -1.14683736e-01 1.54527916e+02] [ 7.43296192e-02 9.97220410e-01 -5.15380774e-03 7.37774018e+00] [ 1.14748558e-01 -3.41898569e-03 9.93388685e-01 1.28681944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56864 meters Centerline goodness : 0.998331 with order 1 Centerline is valid? [True, True] Translation: X:154.59, Y:7.38, Z:12.87 [[ 9.90817667e-01 -7.16102472e-02 -1.14683576e-01 1.54585736e+02] [ 7.14910498e-02 9.97427908e-01 -5.15735473e-03 7.37623297e+00] [ 1.14757919e-01 -3.08885108e-03 9.93388685e-01 1.28746220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62864 meters Centerline goodness : 0.993902 with order 1 Centerline is valid? [True, True] Translation: X:154.64, Y:7.38, Z:12.90 [[ 9.91409277e-01 -6.28960109e-02 -1.14681025e-01 1.54643588e+02] [ 6.27122091e-02 9.98018035e-01 -5.21348067e-03 7.37589808e+00] [ 1.14781638e-01 -2.02320731e-03 9.93388686e-01 1.29016086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68864 meters Centerline goodness : 0.998175 with order 1 Centerline is valid? [True, True] Translation: X:154.71, Y:7.38, Z:12.89 [[ 9.91688293e-01 -5.83316834e-02 -1.14681051e-01 1.54705895e+02] [ 5.81175275e-02 9.98296138e-01 -5.21291516e-03 7.37807028e+00] [ 1.14789728e-01 -1.49539218e-03 9.93388686e-01 1.28881021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74864 meters Centerline goodness : 0.998381 with order 1 Centerline is valid? [True, True] Translation: X:154.76, Y:7.38, Z:12.89 [[ 9.91907343e-01 -5.44805923e-02 -1.14680813e-01 1.54764008e+02] [ 5.42401758e-02 9.98514283e-01 -5.21814416e-03 7.38003037e+00] [ 1.14794717e-01 -1.04439193e-03 9.93388686e-01 1.28949516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80864 meters Centerline goodness : 0.998377 with order 1 Centerline is valid? [True, True] Translation: X:154.82, Y:7.38, Z:12.90 [[ 9.92060005e-01 -5.16313989e-02 -1.14678441e-01 1.54821692e+02] [ 5.13660408e-02 9.98665990e-01 -5.26975611e-03 7.38100953e+00] [ 1.14797544e-01 -6.62663217e-04 9.93388688e-01 1.29012056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86864 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:154.88, Y:7.39, Z:12.91 [[ 9.92317893e-01 -4.64185734e-02 -1.14675698e-01 1.54879328e+02] [ 4.61116895e-02 9.98922077e-01 -5.32879436e-03 7.38551251e+00] [ 1.14799441e-01 -3.21899303e-08 9.93388689e-01 1.29068393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92864 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:154.94, Y:7.39, Z:12.91 [[ 9.92661366e-01 -3.83867338e-02 -1.14672890e-01 1.54936206e+02] [ 3.80195118e-02 9.99262468e-01 -5.38856091e-03 7.39252621e+00] [ 1.14795164e-01 9.89208945e-04 9.93388691e-01 1.29148820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98863999999998 meters Centerline goodness : 0.998479 with order 1 Centerline is valid? [True, True] Translation: X:154.99, Y:7.40, Z:12.92 [[ 9.92864849e-01 -3.27134826e-02 -1.14670049e-01 1.54994222e+02] [ 3.23016400e-02 9.99463316e-01 -5.44835300e-03 7.39757242e+00] [ 1.14786742e-01 1.70544753e-03 9.93388693e-01 1.29199346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04863999999998 meters Centerline goodness : 0.998184 with order 1 Centerline is valid? [True, True] Translation: X:155.05, Y:7.40, Z:12.93 [[ 9.92898755e-01 -3.16767757e-02 -1.14667541e-01 1.55051963e+02] [ 3.12520066e-02 9.99496401e-01 -5.50064006e-03 7.40376410e+00] [ 1.14784037e-01 1.87798792e-03 9.93388694e-01 1.29264254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10863999999998 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:155.11, Y:7.41, Z:12.93 [[ 9.93014843e-01 -2.78126462e-02 -1.14664632e-01 1.55109255e+02] [ 2.73552809e-02 9.99610308e-01 -5.56063194e-03 7.41283505e+00] [ 1.14774604e-01 2.38510684e-03 9.93388696e-01 1.29328633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16863999999998 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:155.17, Y:7.42, Z:12.94 [[ 9.93128570e-01 -2.34167389e-02 -1.14661672e-01 1.55165911e+02] [ 2.29232157e-02 9.99721426e-01 -5.62101706e-03 7.42403196e+00] [ 1.14761356e-01 2.95397841e-03 9.93388698e-01 1.29384727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22863999999998 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:155.22, Y:7.43, Z:12.94 [[ 9.93131085e-01 -2.33244667e-02 -1.14658702e-01 1.55223656e+02] [ 2.28234160e-02 9.99723371e-01 -5.68095147e-03 7.43303634e+00] [ 1.14759490e-01 3.02502623e-03 9.93388700e-01 1.29442730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:155.28, Y:7.45, Z:12.95 [[ 9.93023103e-01 -2.75517388e-02 -1.14656087e-01 1.55280543e+02] [ 2.70727182e-02 9.99617026e-01 -5.73325469e-03 7.44530437e+00] [ 1.14770138e-01 2.58920242e-03 9.93388701e-01 1.29504000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:155.34, Y:7.46, Z:12.96 [[ 9.92787147e-01 -3.50479287e-02 -1.14653055e-01 1.55338644e+02] [ 3.46117744e-02 9.99384042e-01 -5.79326773e-03 7.45693692e+00] [ 1.14785476e-01 1.78313607e-03 9.93388703e-01 1.29551592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:155.40, Y:7.46, Z:12.96 [[ 9.92565320e-01 -4.08580421e-02 -1.14650362e-01 1.55396182e+02] [ 4.04544054e-02 9.99164283e-01 -5.84609085e-03 7.46468485e+00] [ 1.14793406e-01 1.16451482e-03 9.93388704e-01 1.29619563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46864 meters Centerline goodness : 0.998091 with order 1 Centerline is valid? [True, True] Translation: X:155.45, Y:7.47, Z:13.00 [[ 9.91925736e-01 -5.42155993e-02 -1.14647301e-01 1.55452440e+02] [ 5.38939623e-02 9.98529201e-01 -5.90551078e-03 7.47315137e+00] [ 1.14798849e-01 -3.20969207e-04 9.93388706e-01 1.29959702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:155.51, Y:7.48, Z:12.97 [[ 9.91746223e-01 -5.74061858e-02 -1.14647111e-01 1.55514745e+02] [ 5.71053650e-02 9.98350669e-01 -5.90921069e-03 7.47946952e+00] [ 1.14797245e-01 -6.86527712e-04 9.93388706e-01 1.29746315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:155.57, Y:7.48, Z:12.98 [[ 9.91401727e-01 -6.30769328e-02 -1.14646921e-01 1.55571882e+02] [ 6.28134621e-02 9.98007769e-01 -5.91288595e-03 7.48476180e+00] [ 1.14791485e-01 -1.33932468e-03 9.93388706e-01 1.29816769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.63, Y:7.49, Z:12.99 [[ 9.91297219e-01 -6.47038987e-02 -1.14643927e-01 1.55630383e+02] [ 6.44446207e-02 9.97903425e-01 -5.97038888e-03 7.48570178e+00] [ 1.14789874e-01 -1.46975447e-03 9.93388708e-01 1.29873345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.69, Y:7.49, Z:13.00 [[ 9.91056067e-01 -6.83026419e-02 -1.14641268e-01 1.55688487e+02] [ 6.80614963e-02 9.97662959e-01 -6.02101637e-03 7.48653147e+00] [ 1.14784598e-01 -1.83549141e-03 9.93388709e-01 1.29956439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.75, Y:7.48, Z:13.00 [[ 9.90869872e-01 -7.09569278e-02 -1.14638608e-01 1.55746320e+02] [ 7.07276706e-02 9.97477186e-01 -6.07124220e-03 7.48358224e+00] [ 1.14780193e-01 -2.09231071e-03 9.93388710e-01 1.30008422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.80, Y:7.48, Z:13.01 [[ 9.90647112e-01 -7.40066682e-02 -1.14635568e-01 1.55804334e+02] [ 7.37911723e-02 9.97254887e-01 -6.12811389e-03 7.48274062e+00] [ 1.14774402e-01 -2.38829463e-03 9.93388712e-01 1.30080196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88863999999998 meters Centerline goodness : 0.998769 with order 1 Centerline is valid? [True, True] Translation: X:155.86, Y:7.48, Z:13.04 [[ 9.90259683e-01 -7.90262591e-02 -1.14632501e-01 1.55861147e+02] [ 7.88376776e-02 9.96868280e-01 -6.18495959e-03 7.47805113e+00] [ 1.14762278e-01 -2.91264403e-03 9.93388713e-01 1.30401811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:155.92, Y:7.48, Z:13.02 [[ 9.90304508e-01 -7.84628143e-02 -1.14632315e-01 1.55923689e+02] [ 7.82700737e-02 9.96912985e-01 -6.18840840e-03 7.47628280e+00] [ 1.14764003e-01 -2.84387099e-03 9.93388713e-01 1.30222847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:155.98, Y:7.48, Z:13.03 [[ 9.90542082e-01 -7.54046430e-02 -1.14632124e-01 1.55982349e+02] [ 7.51910889e-02 9.97149918e-01 -6.19194549e-03 7.47700645e+00] [ 1.14772314e-01 -2.48593163e-03 9.93388713e-01 1.30280838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.04, Y:7.48, Z:13.03 [[ 9.90910748e-01 -7.03987389e-02 -1.14629430e-01 1.56040837e+02] [ 7.01460778e-02 9.97517204e-01 -6.24142246e-03 7.47569432e+00] [ 1.14784217e-01 -1.85611231e-03 9.93388715e-01 1.30336600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:156.10, Y:7.47, Z:13.04 [[ 9.91020238e-01 -6.88447789e-02 -1.14626719e-01 1.56099185e+02] [ 6.85760457e-02 9.97626058e-01 -6.29082179e-03 7.47353362e+00] [ 1.14787692e-01 -1.62631540e-03 9.93388716e-01 1.30400859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.16, Y:7.47, Z:13.05 [[ 9.91086315e-01 -6.78916244e-02 -1.14623919e-01 1.56156864e+02] [ 6.76106846e-02 9.97691626e-01 -6.34144162e-03 7.47400339e+00] [ 1.14789855e-01 -1.46488560e-03 9.93388717e-01 1.30469068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24864 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:156.21, Y:7.48, Z:13.08 [[ 9.91217531e-01 -6.59537682e-02 -1.14620708e-01 1.56212903e+02] [ 6.56532642e-02 9.97821979e-01 -6.39895792e-03 7.47552003e+00] [ 1.14793097e-01 -1.18246435e-03 9.93388719e-01 1.30761038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:156.27, Y:7.48, Z:13.06 [[ 9.91329322e-01 -6.42562919e-02 -1.14618077e-01 1.56274853e+02] [ 6.39390698e-02 9.97932988e-01 -6.44574275e-03 7.47922267e+00] [ 1.14795339e-01 -9.38719430e-04 9.93388720e-01 1.30604031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:156.33, Y:7.48, Z:13.06 [[ 9.91246044e-01 -6.55291596e-02 -1.14617669e-01 1.56333794e+02] [ 6.52195786e-02 9.97850072e-01 -6.45299525e-03 7.48221826e+00] [ 1.14794108e-01 -1.07881004e-03 9.93388720e-01 1.30646182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.39, Y:7.48, Z:13.07 [[ 9.90905581e-01 -7.04952845e-02 -1.14614769e-01 1.56391685e+02] [ 7.02128889e-02 9.97510825e-01 -6.50410042e-03 7.48406368e+00] [ 1.14787981e-01 -1.60248461e-03 9.93388721e-01 1.30717707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.45, Y:7.49, Z:13.08 [[ 9.90477740e-01 -7.62761973e-02 -1.14611465e-01 1.56449369e+02] [ 7.60256752e-02 9.97084269e-01 -6.56179963e-03 7.48522980e+00] [ 1.14777798e-01 -2.21409758e-03 9.93388723e-01 1.30798898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:156.51, Y:7.48, Z:13.09 [[ 9.90233778e-01 -7.93853736e-02 -1.14608146e-01 1.56507844e+02] [ 7.91489435e-02 9.96840825e-01 -6.61928461e-03 7.48358568e+00] [ 1.14771553e-01 -2.51647443e-03 9.93388725e-01 1.30856756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.57, Y:7.48, Z:13.09 [[ 9.90124229e-01 -8.07443686e-02 -1.14605226e-01 1.56566444e+02] [ 8.05112026e-02 9.96731390e-01 -6.66945548e-03 7.48433767e+00] [ 1.14769147e-01 -2.62341510e-03 9.93388726e-01 1.30921530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66863999999998 meters Centerline goodness : 0.972067 with order 1 Centerline is valid? [True, True] Translation: X:156.62, Y:7.52, Z:13.10 [[ 9.93407812e-01 -2.68810489e-03 -1.14602326e-01 1.56621694e+02] [ 1.93076321e-03 9.99975564e-01 -6.71892075e-03 7.52257689e+00] [ 1.14617587e-01 6.45335840e-03 9.93388727e-01 1.31035050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72863999999998 meters Centerline goodness : 0.996904 with order 1 Centerline is valid? [True, True] Translation: X:156.68, Y:7.49, Z:13.13 [[ 9.90659094e-01 -7.38992817e-02 -1.14601294e-01 1.56681232e+02] [ 7.36127050e-02 9.97264152e-01 -6.73647598e-03 7.48502932e+00] [ 1.14785583e-01 -1.76256008e-03 9.93388727e-01 1.31284662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78864 meters Centerline goodness : 0.994603 with order 1 Centerline is valid? [True, True] Translation: X:156.74, Y:7.48, Z:13.14 [[ 9.89809215e-01 -8.45242709e-02 -1.14600900e-01 1.56740286e+02] [ 8.43078037e-02 9.96416943e-01 -6.74318091e-03 7.47846745e+00] [ 1.14760241e-01 -2.98728755e-03 9.93388727e-01 1.31449297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84864 meters Centerline goodness : 0.995780 with order 1 Centerline is valid? [True, True] Translation: X:156.80, Y:7.48, Z:13.15 [[ 9.89715762e-01 -8.56122721e-02 -1.14600392e-01 1.56799347e+02] [ 8.54020717e-02 9.96323692e-01 -6.75179696e-03 7.47804033e+00] [ 1.14757122e-01 -3.10475103e-03 9.93388727e-01 1.31521330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:156.86, Y:7.48, Z:13.13 [[ 9.90352732e-01 -7.78993767e-02 -1.14599971e-01 1.56862304e+02] [ 7.76368784e-02 9.96958791e-01 -6.75893494e-03 7.47725001e+00] [ 1.14777965e-01 -2.20345434e-03 9.93388727e-01 1.31288234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:156.92, Y:7.47, Z:13.14 [[ 9.90681775e-01 -7.35970896e-02 -1.14599687e-01 1.56920868e+02] [ 7.33053435e-02 9.97286608e-01 -6.76375279e-03 7.47427953e+00] [ 1.14786525e-01 -1.70004278e-03 9.93388727e-01 1.31362625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:156.98, Y:7.47, Z:13.14 [[ 9.90943329e-01 -6.99922436e-02 -1.14596707e-01 1.56979211e+02] [ 6.96706752e-02 9.97546775e-01 -6.81386093e-03 7.47194414e+00] [ 1.14792493e-01 -1.23187996e-03 9.93388729e-01 1.31439651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:157.04, Y:7.47, Z:13.15 [[ 9.91151944e-01 -6.69785303e-02 -1.14593632e-01 1.57037000e+02] [ 6.66309468e-02 9.97754071e-01 -6.86520489e-03 7.47423281e+00] [ 1.14796084e-01 -8.31021004e-04 9.93388730e-01 1.31516657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14864 meters Centerline goodness : 0.995786 with order 1 Centerline is valid? [True, True] Translation: X:157.09, Y:7.48, Z:13.18 [[ 9.91335503e-01 -6.42064947e-02 -1.14592523e-01 1.57094384e+02] [ 6.38383163e-02 9.97936513e-01 -6.88365992e-03 7.47534955e+00] [ 1.14798039e-01 -4.91377265e-04 9.93388730e-01 1.31818763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20863999999997 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:157.16, Y:7.48, Z:13.17 [[ 9.91156443e-01 -6.69141645e-02 -1.14592322e-01 1.57156514e+02] [ 6.65636315e-02 9.97758414e-01 -6.88700923e-03 7.47671898e+00] [ 1.14796292e-01 -8.01577502e-04 9.93388730e-01 1.31657031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:157.21, Y:7.48, Z:13.17 [[ 9.91055340e-01 -6.83956436e-02 -1.14592098e-01 1.57214291e+02] [ 6.80545484e-02 9.97657805e-01 -6.89073715e-03 7.47832896e+00] [ 1.14794997e-01 -9.69411598e-04 9.93388730e-01 1.31717315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32863999999998 meters Centerline goodness : 0.997306 with order 1 Centerline is valid? [True, True] Translation: X:157.27, Y:7.48, Z:13.20 [[ 9.90996667e-01 -6.92465474e-02 -1.14588487e-01 1.57270546e+02] [ 6.89042377e-02 9.97599068e-01 -6.95027296e-03 7.48134021e+00] [ 1.14794650e-01 -1.00793498e-03 9.93388732e-01 1.32025730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:157.33, Y:7.49, Z:13.19 [[ 9.91253167e-01 -6.54731989e-02 -1.14588038e-01 1.57332142e+02] [ 6.51049009e-02 9.97854169e-01 -6.95766560e-03 7.48824346e+00] [ 1.14797692e-01 -5.63434781e-04 9.93388732e-01 1.31864681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:157.39, Y:7.49, Z:13.19 [[ 9.91169269e-01 -6.67320412e-02 -1.14587585e-01 1.57390586e+02] [ 6.63712659e-02 9.97770686e-01 -6.96511291e-03 7.49370744e+00] [ 1.14796930e-01 -7.01717210e-04 9.93388732e-01 1.31930996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:157.45, Y:7.50, Z:13.20 [[ 9.90933261e-01 -7.01547719e-02 -1.14584379e-01 1.57448396e+02] [ 6.98107438e-02 9.97535571e-01 -7.01747007e-03 7.49762523e+00] [ 1.14794303e-01 -1.04537621e-03 9.93388733e-01 1.32001073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:157.51, Y:7.50, Z:13.21 [[ 9.90768110e-01 -7.24555818e-02 -1.14580716e-01 1.57505568e+02] [ 7.21200276e-02 9.97370854e-01 -7.07677554e-03 7.50049480e+00] [ 1.14792219e-01 -1.25212088e-03 9.93388735e-01 1.32053963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.56, Y:7.50, Z:13.21 [[ 9.90350318e-01 -7.79638303e-02 -1.14576997e-01 1.57563704e+02] [ 7.76580901e-02 9.96954508e-01 -7.13649212e-03 7.50360810e+00] [ 1.14784442e-01 -1.83020351e-03 9.93388737e-01 1.32139185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.62, Y:7.50, Z:13.22 [[ 9.90167080e-01 -8.02620721e-02 -1.14573792e-01 1.57620893e+02] [ 7.99657505e-02 9.96771698e-01 -7.18757902e-03 7.50492158e+00] [ 1.14780803e-01 -2.04507516e-03 9.93388738e-01 1.32198954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74864 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:157.68, Y:7.51, Z:13.25 [[ 9.89805138e-01 -8.46136916e-02 -1.14570118e-01 1.57677642e+02] [ 8.43396829e-02 9.96410718e-01 -7.24567359e-03 7.50536025e+00] [ 1.14771977e-01 -2.49100250e-03 9.93388740e-01 1.32479264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:157.74, Y:7.50, Z:13.25 [[ 9.89743272e-01 -8.53349139e-02 -1.14569663e-01 1.57735848e+02] [ 8.50648859e-02 9.96349016e-01 -7.25287121e-03 7.50356036e+00] [ 1.14770294e-01 -2.56737480e-03 9.93388740e-01 1.32531143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:157.80, Y:7.50, Z:13.24 [[ 9.89219814e-01 -9.12074261e-02 -1.14565989e-01 1.57798287e+02] [ 9.09699442e-02 9.95826806e-01 -7.31044698e-03 7.50420048e+00] [ 1.14754650e-01 -3.19042262e-03 9.93388741e-01 1.32397729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.86, Y:7.50, Z:13.25 [[ 9.89056092e-01 -9.29660801e-02 -1.14565941e-01 1.57856852e+02] [ 9.27402594e-02 9.95663493e-01 -7.31119109e-03 7.50447743e+00] [ 1.14748818e-01 -3.39369705e-03 9.93388741e-01 1.32459499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:157.91, Y:7.50, Z:13.28 [[ 9.88887603e-01 -9.47453198e-02 -1.14562788e-01 1.57914419e+02] [ 9.45257057e-02 9.95495212e-01 -7.36027575e-03 7.50319990e+00] [ 1.14744059e-01 -3.55064294e-03 9.93388743e-01 1.32759420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:157.98, Y:7.50, Z:13.26 [[ 9.88890867e-01 -9.47115178e-02 -1.14562563e-01 1.57977558e+02] [ 9.44912730e-02 9.95498455e-01 -7.36377327e-03 7.49846988e+00] [ 1.14744289e-01 -3.54319431e-03 9.93388743e-01 1.32607915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.04, Y:7.50, Z:13.27 [[ 9.89141463e-01 -9.20575112e-02 -1.14562563e-01 1.58036143e+02] [ 9.18195359e-02 9.95748436e-01 -7.36377327e-03 7.49639703e+00] [ 1.14753384e-01 -3.23526793e-03 9.93388743e-01 1.32677193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.09, Y:7.50, Z:13.27 [[ 9.89444226e-01 -8.87484142e-02 -1.14559338e-01 1.58093469e+02] [ 8.84825739e-02 9.96050136e-01 -7.41360928e-03 7.49673204e+00] [ 1.14764791e-01 -2.80115222e-03 9.93388744e-01 1.32729302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22863999999998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:158.15, Y:7.50, Z:13.30 [[ 9.90275026e-01 -7.89455051e-02 -1.14555579e-01 1.58150939e+02] [ 7.86075916e-02 9.96877639e-01 -7.47125519e-03 7.49821517e+00] [ 1.14787717e-01 -1.60634074e-03 9.93388746e-01 1.33000721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.21, Y:7.50, Z:13.29 [[ 9.90690222e-01 -7.35524126e-02 -1.14555341e-01 1.58211716e+02] [ 7.31781314e-02 9.97290874e-01 -7.47490742e-03 7.50221151e+00] [ 1.14794793e-01 -9.77628079e-04 9.93388746e-01 1.32874113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.27, Y:7.51, Z:13.29 [[ 9.91049344e-01 -6.85451551e-02 -1.14554616e-01 1.58270468e+02] [ 6.81362416e-02 9.97647940e-01 -7.48599485e-03 7.50729399e+00] [ 1.14798305e-01 -3.86330715e-04 9.93388746e-01 1.32927636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.33, Y:7.51, Z:13.30 [[ 9.91365200e-01 -6.38206406e-02 -1.14551152e-01 1.58327373e+02] [ 6.33741969e-02 9.97961362e-01 -7.53864076e-03 7.51230481e+00] [ 1.14798744e-01 2.13958868e-04 9.93388747e-01 1.32996257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.38, Y:7.52, Z:13.31 [[ 9.91713294e-01 -5.81695656e-02 -1.14547127e-01 1.58384396e+02] [ 5.76785287e-02 9.98306285e-01 -7.59931093e-03 7.52028635e+00] [ 1.14795165e-01 9.29427932e-04 9.93388749e-01 1.33064370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.44, Y:7.53, Z:13.33 [[ 9.91792172e-01 -5.68169604e-02 -1.14543091e-01 1.58440414e+02] [ 5.63099627e-02 9.98383953e-01 -7.65966115e-03 7.52722735e+00] [ 1.14793183e-01 1.14687477e-03 9.93388751e-01 1.33300391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.50, Y:7.53, Z:13.32 [[ 9.91546567e-01 -6.09598776e-02 -1.14539508e-01 1.58500965e+02] [ 6.04742757e-02 9.98139957e-01 -7.71287695e-03 7.53369262e+00] [ 1.14796636e-01 7.20982877e-04 9.93388752e-01 1.33195993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.56, Y:7.54, Z:13.33 [[ 9.91361502e-01 -6.39051168e-02 -1.14536055e-01 1.58558726e+02] [ 6.34332177e-02 9.97955886e-01 -7.76382096e-03 7.53822374e+00] [ 1.14798078e-01 4.31362708e-04 9.93388753e-01 1.33266401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:158.62, Y:7.54, Z:13.33 [[ 9.91171370e-01 -6.67954455e-02 -1.14532457e-01 1.58616349e+02] [ 6.63366836e-02 9.97766679e-01 -7.81654621e-03 7.54116328e+00] [ 1.14798779e-01 1.49833467e-04 9.93388755e-01 1.33330506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.67, Y:7.55, Z:13.34 [[ 9.91250606e-01 -6.56163705e-02 -1.14528282e-01 1.58673485e+02] [ 6.51427502e-02 9.97844863e-01 -7.87724748e-03 7.54712890e+00] [ 1.14798334e-01 3.47639080e-04 9.93388757e-01 1.33415761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.73, Y:7.55, Z:13.35 [[ 9.91338862e-01 -6.42766796e-02 -1.14524098e-01 1.58731067e+02] [ 6.37871739e-02 9.97931957e-01 -7.93761527e-03 7.55199047e+00] [ 1.14797461e-01 5.63697932e-04 9.93388758e-01 1.33472695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.79, Y:7.56, Z:13.35 [[ 9.91313460e-01 -6.46747914e-02 -1.14519843e-01 1.58789527e+02] [ 6.41808960e-02 9.97906226e-01 -7.99853440e-03 7.56012858e+00] [ 1.14797368e-01 5.79068659e-04 9.93388760e-01 1.33534881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.84, Y:7.56, Z:13.38 [[ 9.91220814e-01 -6.60859634e-02 -1.14516128e-01 1.58844832e+02] [ 6.55953483e-02 9.97813823e-01 -8.05138402e-03 7.56395322e+00] [ 1.14797859e-01 4.68974132e-04 9.93388762e-01 1.33804797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.91, Y:7.57, Z:13.37 [[ 9.90970208e-01 -6.97464183e-02 -1.14514121e-01 1.58905411e+02] [ 6.92768693e-02 9.97564751e-01 -8.07983119e-03 7.56768748e+00] [ 1.14798790e-01 7.36922182e-05 9.93388762e-01 1.33671424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:158.96, Y:7.57, Z:13.37 [[ 9.90873185e-01 -7.11176619e-02 -1.14510306e-01 1.58962922e+02] [ 7.06510314e-02 9.97467933e-01 -8.13354562e-03 7.56986188e+00] [ 1.14798797e-01 -3.09589404e-05 9.93388763e-01 1.33743794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:159.02, Y:7.57, Z:13.40 [[ 9.90731677e-01 -7.30692527e-02 -1.14506017e-01 1.59019285e+02] [ 7.26086854e-02 9.97326850e-01 -8.19348171e-03 7.57109390e+00] [ 1.14798617e-01 -1.96589499e-04 9.93388765e-01 1.34025997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.08, Y:7.57, Z:13.39 [[ 9.90607355e-01 -7.47416612e-02 -1.14502191e-01 1.59080485e+02] [ 7.42860869e-02 9.97202873e-01 -8.24661271e-03 7.56812123e+00] [ 1.14798279e-01 -3.36764477e-04 9.93388767e-01 1.33873842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.14, Y:7.57, Z:13.39 [[ 9.90760166e-01 -7.26939970e-02 -1.14498370e-01 1.59138839e+02] [ 7.22186998e-02 9.97354290e-01 -8.29932227e-03 7.56900258e+00] [ 1.14798752e-01 -4.62855183e-05 9.93388768e-01 1.33934938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:159.19, Y:7.57, Z:13.42 [[ 9.90913440e-01 -7.05801449e-02 -1.14494529e-01 1.59194121e+02] [ 7.00846956e-02 9.97506080e-01 -8.35198660e-03 7.57100646e+00] [ 1.14798473e-01 2.51781577e-04 9.93388769e-01 1.34224813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:159.25, Y:7.58, Z:13.43 [[ 9.91440183e-01 -6.27509287e-02 -1.14493167e-01 1.59252149e+02] [ 6.22012705e-02 9.98028524e-01 -8.37061114e-03 7.57848923e+00] [ 1.14792710e-01 1.17733979e-03 9.93388770e-01 1.34263240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:159.31, Y:7.58, Z:13.43 [[ 9.91428830e-01 -6.29370910e-02 -1.14489286e-01 1.59310571e+02] [ 6.23825791e-02 9.98016764e-01 -8.42336004e-03 7.58372781e+00] [ 1.14792369e-01 1.20902504e-03 9.93388771e-01 1.34345931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:159.37, Y:7.59, Z:13.44 [[ 9.91372825e-01 -6.38203008e-02 -1.14485332e-01 1.59368264e+02] [ 6.32654902e-02 9.97960732e-01 -8.47677416e-03 7.58954705e+00] [ 1.14792856e-01 1.16067292e-03 9.93388772e-01 1.34411194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:159.43, Y:7.60, Z:13.45 [[ 9.91198131e-01 -6.64852580e-02 -1.14481333e-01 1.59425637e+02] [ 6.59419627e-02 9.97786996e-01 -8.53043541e-03 7.59598744e+00] [ 1.14795134e-01 9.06227822e-04 9.93388774e-01 1.34472641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.49, Y:7.61, Z:13.44 [[ 9.91172384e-01 -6.68758627e-02 -1.14476742e-01 1.59485264e+02] [ 6.63280986e-02 9.97760877e-01 -8.59161213e-03 7.60685120e+00] [ 1.14794986e-01 9.22744033e-04 9.93388776e-01 1.34367794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:159.54, Y:7.62, Z:13.46 [[ 9.91484695e-01 -6.20760721e-02 -1.14475588e-01 1.59542038e+02] [ 6.14946430e-02 9.98070303e-01 -8.60695925e-03 7.61535012e+00] [ 1.14788971e-01 1.49403294e-03 9.93388776e-01 1.34598488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.60, Y:7.62, Z:13.45 [[ 9.91392243e-01 -6.35365290e-02 -1.14475019e-01 1.59601812e+02] [ 6.29639282e-02 9.97978624e-01 -8.61452408e-03 7.62428188e+00] [ 1.14790959e-01 1.33257548e-03 9.93388776e-01 1.34496426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.66, Y:7.63, Z:13.46 [[ 9.91094971e-01 -6.80183375e-02 -1.14473854e-01 1.59659512e+02] [ 6.74737373e-02 9.97683727e-01 -8.62997677e-03 7.63035717e+00] [ 1.14795698e-01 8.29147834e-04 9.93388776e-01 1.34558144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:159.72, Y:7.63, Z:13.48 [[ 9.90767258e-01 -7.26431522e-02 -1.14469263e-01 1.59715323e+02] [ 7.21223219e-02 9.97357933e-01 -8.69044633e-03 7.63383563e+00] [ 1.14798129e-01 3.54420619e-04 9.93388778e-01 1.34804284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:159.78, Y:7.63, Z:13.47 [[ 9.90149860e-01 -8.06249302e-02 -1.14467794e-01 1.59776007e+02] [ 8.01549948e-02 9.96744359e-01 -8.70976395e-03 7.63372957e+00] [ 1.14797352e-01 -5.51193846e-04 9.93388778e-01 1.34671774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:159.83, Y:7.63, Z:13.49 [[ 9.89662209e-01 -8.64104178e-02 -1.14463757e-01 1.59832285e+02] [ 8.59729326e-02 9.96258939e-01 -8.76250109e-03 7.63227649e+00] [ 1.14792712e-01 -1.16886864e-03 9.93388779e-01 1.34937741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:159.89, Y:7.63, Z:13.50 [[ 9.89607275e-01 -8.70425361e-02 -1.14459769e-01 1.59891384e+02] [ 8.66032753e-02 9.96203885e-01 -8.81428821e-03 7.63374034e+00] [ 1.14792484e-01 -1.18990713e-03 9.93388781e-01 1.34980383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:159.95, Y:7.63, Z:13.50 [[ 9.89904881e-01 -8.35954969e-02 -1.14455757e-01 1.59948756e+02] [ 8.31272773e-02 9.96499497e-01 -8.86607351e-03 7.63499208e+00] [ 1.14796269e-01 -7.37826050e-04 9.93388782e-01 1.35039667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.01, Y:7.64, Z:13.49 [[ 9.90361204e-01 -7.80104048e-02 -1.14451134e-01 1.60009524e+02] [ 7.74981421e-02 9.96952544e-01 -8.92536513e-03 7.63906065e+00] [ 1.14798620e-01 -3.04148824e-05 9.93388784e-01 1.34943350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20863999999997 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:160.07, Y:7.64, Z:13.52 [[ 9.90834415e-01 -7.17536143e-02 -1.14449034e-01 1.60065609e+02] [ 7.11966287e-02 9.97422126e-01 -8.95221665e-03 7.64489812e+00] [ 1.14796352e-01 7.21778992e-04 9.93388784e-01 1.35195380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:160.12, Y:7.65, Z:13.52 [[ 9.91036084e-01 -6.89191183e-02 -1.14444900e-01 1.60123359e+02] [ 6.83372255e-02 9.97621641e-01 -9.00474882e-03 7.65366927e+00] [ 1.14793309e-01 1.10318404e-03 9.93388786e-01 1.35244690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32863999999998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:160.18, Y:7.66, Z:13.53 [[ 9.91180937e-01 -6.68108107e-02 -1.14440665e-01 1.60181210e+02] [ 6.62087333e-02 9.97764677e-01 -9.05825504e-03 7.66132800e+00] [ 1.14790043e-01 1.40139823e-03 9.93388787e-01 1.35346147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38863999999998 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:160.24, Y:7.67, Z:13.54 [[ 9.91291922e-01 -6.51507774e-02 -1.14436448e-01 1.60239146e+02] [ 6.45315615e-02 9.97874072e-01 -9.11122231e-03 7.67407284e+00] [ 1.14786768e-01 1.64711837e-03 9.93388788e-01 1.35412585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.30, Y:7.69, Z:13.53 [[ 9.91200768e-01 -6.65305212e-02 -1.14432194e-01 1.60299517e+02] [ 6.59143360e-02 9.97783200e-01 -9.16434293e-03 7.68622162e+00] [ 1.14788230e-01 1.54098164e-03 9.93388790e-01 1.35306680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50863999999999 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:160.35, Y:7.70, Z:13.56 [[ 9.91052315e-01 -6.87075053e-02 -1.14431588e-01 1.60354759e+02] [ 6.81049058e-02 9.97636005e-01 -9.17191216e-03 7.69746007e+00] [ 1.14791251e-01 1.29649228e-03 9.93388790e-01 1.35561138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.42, Y:7.71, Z:13.54 [[ 9.90838951e-01 -7.17256709e-02 -1.14427273e-01 1.60415307e+02] [ 7.11369457e-02 9.97423895e-01 -9.22543456e-03 7.70705272e+00] [ 1.14794197e-01 1.00091322e-03 9.93388791e-01 1.35438417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62864 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:160.47, Y:7.71, Z:13.57 [[ 9.90682852e-01 -7.38565770e-02 -1.14423309e-01 1.60470871e+02] [ 7.32763680e-02 9.97268550e-01 -9.27433595e-03 7.71442650e+00] [ 1.14795738e-01 8.03401064e-04 9.93388792e-01 1.35728548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.53, Y:7.72, Z:13.55 [[ 9.90662982e-01 -7.41292675e-02 -1.14419005e-01 1.60531234e+02] [ 7.35447727e-02 9.97248299e-01 -9.32714074e-03 7.72157846e+00] [ 1.14795572e-01 8.25133344e-04 9.93388794e-01 1.35529921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:160.59, Y:7.73, Z:13.58 [[ 9.90846624e-01 -7.16408088e-02 -1.14413996e-01 1.60588006e+02] [ 7.10327273e-02 9.97429804e-01 -9.38818574e-03 7.72830155e+00] [ 1.14792507e-01 1.17511396e-03 9.93388796e-01 1.35808665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:160.65, Y:7.74, Z:13.59 [[ 9.91059456e-01 -6.86347800e-02 -1.14413381e-01 1.60645176e+02] [ 6.80058674e-02 9.97640678e-01 -9.39567142e-03 7.73719637e+00] [ 1.14788313e-01 1.53088776e-03 9.93388796e-01 1.35851624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.70, Y:7.75, Z:13.59 [[ 9.91109874e-01 -6.79113377e-02 -1.14408336e-01 1.60703134e+02] [ 6.72705763e-02 9.97689952e-01 -9.45671340e-03 7.74626593e+00] [ 1.14786265e-01 1.67632733e-03 9.93388798e-01 1.35874941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:160.76, Y:7.76, Z:13.60 [[ 9.90964949e-01 -7.00015326e-02 -1.14403912e-01 1.60761099e+02] [ 6.93685075e-02 9.97545774e-01 -9.50993268e-03 7.75656665e+00] [ 1.14788849e-01 1.48798130e-03 9.93388799e-01 1.35956661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:160.82, Y:7.77, Z:13.59 [[ 9.90717608e-01 -7.34256406e-02 -1.14399724e-01 1.60820117e+02] [ 7.28095737e-02 9.97300041e-01 -9.56005523e-03 7.76880896e+00] [ 1.14792802e-01 1.14191993e-03 9.93388800e-01 1.35874304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:160.88, Y:7.78, Z:13.61 [[ 9.90304395e-01 -7.88048126e-02 -1.14398459e-01 1.60877415e+02] [ 7.82227564e-02 9.96889922e-01 -9.57516428e-03 7.77635260e+00] [ 1.14797240e-01 5.33764463e-04 9.93388800e-01 1.36089936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:160.94, Y:7.78, Z:13.62 [[ 9.89767041e-01 -8.52897485e-02 -1.14397833e-01 1.60935076e+02] [ 8.47499773e-02 9.96356168e-01 -9.58263611e-03 7.78216470e+00] [ 1.14798288e-01 -2.10636392e-04 9.93388800e-01 1.36201442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16863999999998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:160.99, Y:7.78, Z:13.62 [[ 9.89426215e-01 -8.91582301e-02 -1.14396570e-01 1.60994975e+02] [ 8.86424797e-02 9.96017266e-01 -9.59769553e-03 7.78458836e+00] [ 1.14796672e-01 -6.44184066e-04 9.93388801e-01 1.36234925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22863999999998 meters Centerline goodness : 0.980461 with order 2 Centerline is valid? [True, True] Translation: X:161.08, Y:7.83, Z:13.61 [[ 9.93431221e-01 -2.82486719e-03 -1.14395931e-01 1.61077075e+02] [ 1.73733766e-03 9.99952359e-01 -9.60529915e-03 7.83095560e+00] [ 1.14417615e-01 9.34345971e-03 9.93388801e-01 1.36148310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28864 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:161.11, Y:7.77, Z:13.64 [[ 9.89160639e-01 -9.06177524e-02 -1.15540697e-01 1.61111332e+02] [ 9.17595932e-02 9.95770605e-01 4.59131514e-03 7.77030841e+00] [ 1.14635975e-01 -1.51435156e-02 9.93292136e-01 1.36431796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34864 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:161.17, Y:7.79, Z:13.64 [[ 9.89472977e-01 -8.87669008e-02 -1.14296391e-01 1.61170237e+02] [ 8.82128697e-02 9.96052387e-01 -9.90611022e-03 7.78615744e+00] [ 1.14724528e-01 -2.80584276e-04 9.93397304e-01 1.36434405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40864 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:161.23, Y:7.79, Z:13.66 [[ 9.89522514e-01 -8.82133650e-02 -1.14296095e-01 1.61228188e+02] [ 8.76552590e-02 9.96101580e-01 -9.90952484e-03 7.78811921e+00] [ 1.14724673e-01 -2.12955872e-04 9.93397304e-01 1.36568781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:161.29, Y:7.79, Z:13.66 [[ 9.89153109e-01 -9.22689207e-02 -1.14291615e-01 1.61288140e+02] [ 9.17318493e-02 9.95733924e-01 -9.96092840e-03 7.79203440e+00] [ 1.14723122e-01 -6.31297907e-04 9.93397306e-01 1.36580954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:161.35, Y:7.79, Z:13.67 [[ 9.88366091e-01 -1.00349618e-01 -1.14290964e-01 1.61346319e+02] [ 9.98654821e-02 9.94951012e-01 -9.96839457e-03 7.79387782e+00] [ 1.14714235e-01 -1.56129904e-03 9.93397306e-01 1.36695224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:161.41, Y:7.79, Z:13.67 [[ 9.87623849e-01 -1.07410438e-01 -1.14289683e-01 1.61406042e+02] [ 1.06971678e-01 9.94211949e-01 -9.98305947e-03 7.79445415e+00] [ 1.14700453e-01 -2.36625154e-03 9.93397306e-01 1.36706811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:161.46, Y:7.80, Z:13.68 [[ 9.87390793e-01 -1.09533126e-01 -1.14288742e-01 1.61464747e+02] [ 1.09107284e-01 9.93979740e-01 -9.99381513e-03 7.79775372e+00] [ 1.14695348e-01 -2.60193327e-03 9.93397306e-01 1.36775779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70863999999997 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:161.52, Y:7.80, Z:13.69 [[ 9.87875316e-01 -1.05078290e-01 -1.14284347e-01 1.61522465e+02] [ 1.04616948e-01 9.94461872e-01 -1.00438255e-02 7.80104477e+00] [ 1.14706814e-01 -2.03403239e-03 9.93397307e-01 1.36930188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:161.58, Y:7.81, Z:13.68 [[ 9.88599279e-01 -9.80382324e-02 -1.14280230e-01 1.61581851e+02] [ 9.75245917e-02 9.95181962e-01 -1.00904548e-02 7.80883301e+00] [ 1.14718874e-01 -1.16971643e-03 9.93397308e-01 1.36774778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82863999999998 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:161.64, Y:7.81, Z:13.71 [[ 9.88478799e-01 -9.92515305e-02 -1.14275094e-01 1.61637485e+02] [ 9.87392831e-02 9.95061589e-01 -1.01482976e-02 7.81302373e+00] [ 1.14717990e-01 -1.25206383e-03 9.93397310e-01 1.37067194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.70, Y:7.82, Z:13.69 [[ 9.88713316e-01 -9.68890089e-02 -1.14273791e-01 1.61697981e+02] [ 9.63593386e-02 9.95294726e-01 -1.01629468e-02 7.81739043e+00] [ 1.14720779e-01 -9.63106107e-04 9.93397310e-01 1.36910511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:161.76, Y:7.82, Z:13.70 [[ 9.88566928e-01 -9.83732927e-02 -1.14272154e-01 1.61755929e+02] [ 9.78513800e-02 9.95148958e-01 -1.01813224e-02 7.82185390e+00] [ 1.14719385e-01 -1.11676939e-03 9.93397310e-01 1.36997441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00863999999999 meters Centerline goodness : 0.945111 with order 1 Centerline is valid? [True, False] Translation: X:161.77, Y:7.83, Z:13.70 [[ 9.88602369e-01 -8.94805782e-02 -1.21072635e-01 1.61773117e+02] [ 8.72479937e-02 9.95906374e-01 -2.36280052e-02 7.83304128e+00] [ 1.22691257e-01 1.27953574e-02 9.92362401e-01 1.37010932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [False, True] Translation: X:161.77, Y:7.84, Z:13.70 [[ 9.90258177e-01 -8.05231597e-02 -1.13599138e-01 1.61768819e+02] [ 7.73184042e-02 9.96481558e-01 -3.23476199e-02 7.83819044e+00] [ 1.15804178e-01 2.32491911e-02 9.92999933e-01 1.37009497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12864 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:161.83, Y:7.82, Z:13.71 [[ 9.90315740e-01 -7.73746741e-02 -1.15273131e-01 1.61829875e+02] [ 7.70069757e-02 9.97001233e-01 -7.64640793e-03 7.81847844e+00] [ 1.15519093e-01 -1.30447710e-03 9.93304403e-01 1.37104024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:161.89, Y:7.82, Z:13.71 [[ 9.90690815e-01 -7.24151052e-02 -1.15272555e-01 1.61890802e+02] [ 7.20129267e-02 9.97374322e-01 -7.65508637e-03 7.82077360e+00] [ 1.15524230e-01 -7.17290310e-04 9.93304403e-01 1.37104777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:161.95, Y:7.83, Z:13.72 [[ 9.91244932e-01 -6.43872943e-02 -1.15272555e-01 1.61948414e+02] [ 6.39309869e-02 9.97924961e-01 -7.65508637e-03 7.82597400e+00] [ 1.15526250e-01 2.18577350e-04 9.93304403e-01 1.37206877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:162.01, Y:7.83, Z:13.72 [[ 9.91506075e-01 -6.02343172e-02 -1.15271550e-01 1.62007978e+02] [ 5.97482741e-02 9.98184007e-01 -7.67019562e-03 7.83060618e+00] [ 1.15524226e-01 7.17769393e-04 9.93304403e-01 1.37228097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:162.07, Y:7.83, Z:13.71 [[ 9.91537045e-01 -5.97233200e-02 -1.15271040e-01 1.62068064e+02] [ 5.92329462e-02 9.98214661e-01 -7.67784471e-03 7.83470389e+00] [ 1.15523789e-01 7.85024126e-04 9.93304403e-01 1.37123014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.13, Y:7.84, Z:13.72 [[ 9.91545606e-01 -5.95879230e-02 -1.15267474e-01 1.62125820e+02] [ 5.90904555e-02 9.98222695e-01 -7.73102360e-03 7.83880296e+00] [ 1.15523284e-01 8.54454948e-04 9.93304405e-01 1.37191137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:162.18, Y:7.84, Z:13.74 [[ 9.91447393e-01 -6.12079912e-02 -1.15263385e-01 1.62181808e+02] [ 6.07144025e-02 9.98124769e-01 -7.79151142e-03 7.84301256e+00] [ 1.15524142e-01 7.26726125e-04 9.93304407e-01 1.37441416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54863999999998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:162.24, Y:7.85, Z:13.75 [[ 9.91196109e-01 -6.51571875e-02 -1.15259766e-01 1.62239751e+02] [ 6.46840203e-02 9.97874961e-01 -7.84468675e-03 7.84777333e+00] [ 1.15525972e-01 3.20157936e-04 9.93304408e-01 1.37535538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.30, Y:7.85, Z:13.74 [[ 9.91042137e-01 -6.74649237e-02 -1.15256092e-01 1.62300672e+02] [ 6.70010729e-02 9.97721641e-01 -7.89830700e-03 7.85233207e+00] [ 1.15526356e-01 1.05273240e-04 9.93304410e-01 1.37401060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.36, Y:7.86, Z:13.75 [[ 9.90777422e-01 -7.12525285e-02 -1.15252668e-01 1.62357944e+02] [ 7.08084366e-02 9.97458267e-01 -7.94795777e-03 7.85672862e+00] [ 1.15526039e-01 -2.86204129e-04 9.93304411e-01 1.37469760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.42, Y:7.86, Z:13.75 [[ 9.90675462e-01 -7.26630304e-02 -1.15248480e-01 1.62415732e+02] [ 7.22214385e-02 9.97356472e-01 -8.00823290e-03 7.86217276e+00] [ 1.15525720e-01 -3.89851176e-04 9.93304413e-01 1.37548032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.47, Y:7.87, Z:13.76 [[ 9.90599071e-01 -7.37028406e-02 -1.15244833e-01 1.62473822e+02] [ 7.32621949e-02 9.97280142e-01 -8.06037964e-03 7.86785119e+00] [ 1.15525456e-01 -4.58484811e-04 9.93304414e-01 1.37618777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.53, Y:7.87, Z:13.77 [[ 9.90474287e-01 -7.53668389e-02 -1.15241164e-01 1.62531548e+02] [ 7.49313528e-02 9.97155695e-01 -8.11250360e-03 7.87441298e+00] [ 1.15524796e-01 -5.99950072e-04 9.93304415e-01 1.37679653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.59, Y:7.88, Z:13.77 [[ 9.90408108e-01 -7.62372500e-02 -1.15237414e-01 1.62589524e+02] [ 7.58014782e-02 9.97089495e-01 -8.16542580e-03 7.88077005e+00] [ 1.15524524e-01 -6.48062400e-04 9.93304417e-01 1.37738694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.65, Y:7.89, Z:13.78 [[ 9.90515006e-01 -7.48412805e-02 -1.15233703e-01 1.62646424e+02] [ 7.43900386e-02 9.97195365e-01 -8.21746099e-03 7.88788562e+00] [ 1.15525520e-01 -4.32721224e-04 9.93304418e-01 1.37808532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.70, Y:7.89, Z:13.79 [[ 9.90663153e-01 -7.28607507e-02 -1.15229457e-01 1.62704126e+02] [ 7.23892768e-02 9.97342113e-01 -8.27657981e-03 7.89470659e+00] [ 1.15526228e-01 -1.42074430e-04 9.93304420e-01 1.37866534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.76, Y:7.90, Z:13.79 [[ 9.90674968e-01 -7.27058749e-02 -1.15225706e-01 1.62761218e+02] [ 7.22273198e-02 9.97353423e-01 -8.32848433e-03 7.90127425e+00] [ 1.15526282e-01 -7.16229492e-05 9.93304421e-01 1.37933957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:162.82, Y:7.90, Z:13.82 [[ 9.90434938e-01 -7.59122901e-02 -1.15221344e-01 1.62817311e+02] [ 7.54483859e-02 9.97114425e-01 -8.38839373e-03 7.90459005e+00] [ 1.15525647e-01 -3.85106239e-04 9.93304423e-01 1.38238119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.88, Y:7.91, Z:13.81 [[ 9.90096145e-01 -8.02152393e-02 -1.15217792e-01 1.62878346e+02] [ 7.97747176e-02 9.96777213e-01 -8.43691252e-03 7.90883508e+00] [ 1.15523238e-01 -8.38112237e-04 9.93304424e-01 1.38080614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:162.94, Y:7.91, Z:13.82 [[ 9.89987349e-01 -8.15523849e-02 -1.15213966e-01 1.62936351e+02] [ 8.11148448e-02 9.96668612e-01 -8.48883272e-03 7.91347592e+00] [ 1.15522429e-01 -9.41726010e-04 9.93304425e-01 1.38155555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.00, Y:7.92, Z:13.82 [[ 9.89901911e-01 -8.25882815e-02 -1.15210169e-01 1.62995046e+02] [ 8.21517710e-02 9.96583240e-01 -8.54006343e-03 7.91504076e+00] [ 1.15521833e-01 -1.01089432e-03 9.93304427e-01 1.38216844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.05, Y:7.92, Z:13.85 [[ 9.89842266e-01 -8.33054121e-02 -1.15206321e-01 1.63050280e+02] [ 8.28677366e-02 9.96523518e-01 -8.59166556e-03 7.92110509e+00] [ 1.15521540e-01 -1.04249334e-03 9.93304428e-01 1.38515906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:163.11, Y:7.93, Z:13.86 [[ 9.89610445e-01 -8.60206692e-02 -1.15202479e-01 1.63108276e+02] [ 8.55953645e-02 9.96292494e-01 -8.64287245e-03 7.92591500e+00] [ 1.15518831e-01 -1.30772136e-03 9.93304429e-01 1.38585034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.17, Y:7.93, Z:13.84 [[ 9.89293369e-01 -8.95986394e-02 -1.15198582e-01 1.63168788e+02] [ 8.91914884e-02 9.95976548e-01 -8.69451258e-03 7.93088619e+00] [ 1.15514103e-01 -1.67330935e-03 9.93304431e-01 1.38431610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56864 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:163.23, Y:7.93, Z:13.88 [[ 9.88495958e-01 -9.80098039e-02 -1.15194701e-01 1.63225151e+02] [ 9.76535568e-02 9.95182042e-01 -8.74563356e-03 7.93125735e+00] [ 1.15496856e-01 -2.60414886e-03 9.93304432e-01 1.38779930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.29, Y:7.93, Z:13.86 [[ 9.88117959e-01 -1.01750552e-01 -1.15194292e-01 1.63288560e+02] [ 1.01418986e-01 9.94805312e-01 -8.75102280e-03 7.92903161e+00] [ 1.15486315e-01 -3.03584546e-03 9.93304432e-01 1.38552629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.35, Y:7.93, Z:13.86 [[ 9.87975906e-01 -1.03120899e-01 -1.15194135e-01 1.63347809e+02] [ 1.02798368e-01 9.94663702e-01 -8.75308740e-03 7.92598261e+00] [ 1.15482051e-01 -3.19392955e-03 9.93304432e-01 1.38603633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74864 meters Centerline goodness : 0.993380 with order 1 Centerline is valid? [True, True] Translation: X:163.40, Y:7.95, Z:13.88 [[ 9.91774675e-01 -5.58047407e-02 -1.15190388e-01 1.63404496e+02] [ 5.51573901e-02 9.98438874e-01 -8.80212231e-03 7.94688016e+00] [ 1.15501761e-01 2.37612083e-03 9.93304433e-01 1.38755567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.47, Y:7.92, Z:13.87 [[ 9.88243120e-01 -1.00532745e-01 -1.15189853e-01 1.63466630e+02] [ 1.00186171e-01 9.94929711e-01 -8.80911581e-03 7.91864010e+00] [ 1.15491412e-01 -2.83488227e-03 9.93304433e-01 1.38748247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.53, Y:7.92, Z:13.88 [[ 9.88435350e-01 -9.86289631e-02 -1.15186309e-01 1.63525957e+02] [ 9.82641391e-02 9.95120970e-01 -8.85522366e-03 7.91505258e+00] [ 1.15497693e-01 -2.56586736e-03 9.93304434e-01 1.38811624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.58, Y:7.91, Z:13.89 [[ 9.88596226e-01 -9.70077435e-02 -1.15182462e-01 1.63584941e+02] [ 9.66261601e-02 9.95280908e-01 -8.90498296e-03 7.91360674e+00] [ 1.15502758e-01 -2.32620644e-03 9.93304436e-01 1.38877321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.64, Y:7.91, Z:13.89 [[ 9.88696063e-01 -9.59895690e-02 -1.15178544e-01 1.63642117e+02] [ 9.55952336e-02 9.95380004e-01 -8.95536955e-03 7.91433247e+00] [ 1.15506042e-01 -2.15638124e-03 9.93304437e-01 1.38945177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.70, Y:7.91, Z:13.90 [[ 9.88881240e-01 -9.40651615e-02 -1.15176553e-01 1.63700922e+02] [ 9.36548445e-02 9.95564219e-01 -8.98090989e-03 7.91313747e+00] [ 1.15510446e-01 -1.90578883e-03 9.93304437e-01 1.39015181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.76, Y:7.91, Z:13.91 [[ 9.89162446e-01 -9.10655874e-02 -1.15172542e-01 1.63759901e+02] [ 9.06290488e-02 9.95843762e-01 -9.03206174e-03 7.91247450e+00] [ 1.15516367e-01 -1.50380160e-03 9.93304438e-01 1.39084560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16863999999998 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:163.82, Y:7.91, Z:13.95 [[ 9.89369067e-01 -8.87979161e-02 -1.15168485e-01 1.63816083e+02] [ 8.83400759e-02 9.96048955e-01 -9.08350139e-03 7.91101384e+00] [ 1.15520045e-01 -1.18705738e-03 9.93304440e-01 1.39454328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.88, Y:7.91, Z:13.92 [[ 9.89470562e-01 -8.76606736e-02 -1.15167759e-01 1.63878813e+02] [ 8.71940860e-02 9.96149845e-01 -9.09269358e-03 7.91239467e+00] [ 1.15521417e-01 -1.04499484e-03 9.93304440e-01 1.39241073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.94, Y:7.91, Z:13.93 [[ 9.89576631e-01 -8.64557736e-02 -1.15167227e-01 1.63936892e+02] [ 8.59802692e-02 9.96255285e-01 -9.09943072e-03 7.91380119e+00] [ 1.15522656e-01 -8.97525144e-04 9.93304440e-01 1.39318419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:163.99, Y:7.92, Z:13.94 [[ 9.89852509e-01 -8.32434640e-02 -1.15163082e-01 1.63994853e+02] [ 8.27402177e-02 9.96529129e-01 -9.15158278e-03 7.91716986e+00] [ 1.15525176e-01 -4.69901333e-04 9.93304441e-01 1.39401335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40864 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:164.05, Y:7.92, Z:13.97 [[ 9.90280076e-01 -7.79987337e-02 -1.15158880e-01 1.64051062e+02] [ 7.74540117e-02 9.96953439e-01 -9.20416386e-03 7.92373849e+00] [ 1.15525955e-01 1.95182858e-04 9.93304443e-01 1.39674868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:164.11, Y:7.93, Z:13.97 [[ 9.90827101e-01 -7.07122947e-02 -1.15158269e-01 1.64109571e+02] [ 7.01176123e-02 9.97496197e-01 -9.21179595e-03 7.93134990e+00] [ 1.15521323e-01 1.05267419e-03 9.93304443e-01 1.39721362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:164.17, Y:7.94, Z:13.98 [[ 9.91097015e-01 -6.68303591e-02 -1.15153851e-01 1.64167734e+02] [ 6.62031773e-02 9.97763132e-01 -9.26670760e-03 7.94082208e+00] [ 1.15515564e-01 1.56065545e-03 9.93304444e-01 1.39779332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:164.23, Y:7.95, Z:13.99 [[ 9.91160967e-01 -6.58828547e-02 -1.15149412e-01 1.64225101e+02] [ 6.52429308e-02 9.97825871e-01 -9.32154567e-03 7.95107305e+00] [ 1.15513192e-01 1.72646712e-03 9.93304446e-01 1.39871652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:164.28, Y:7.96, Z:13.99 [[ 9.91162943e-01 -6.58609050e-02 -1.15144960e-01 1.64283055e+02] [ 6.52144836e-02 9.97827218e-01 -9.37621717e-03 7.95772821e+00] [ 1.15512301e-01 1.78423990e-03 9.93304447e-01 1.39925142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70863999999997 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:164.34, Y:7.97, Z:14.00 [[ 9.91182796e-01 -6.55692768e-02 -1.15140498e-01 1.64341330e+02] [ 6.49145672e-02 9.97846261e-01 -9.43069997e-03 7.96553313e+00] [ 1.15510879e-01 1.87325199e-03 9.93304449e-01 1.39976141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.40, Y:7.97, Z:13.99 [[ 9.90972425e-01 -6.86830146e-02 -1.15135992e-01 1.64401694e+02] [ 6.80428900e-02 9.97637305e-01 -9.48539047e-03 7.97322942e+00] [ 1.15515446e-01 1.56557474e-03 9.93304450e-01 1.39881777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:164.46, Y:7.98, Z:14.01 [[ 9.90665833e-01 -7.29785819e-02 -1.15131811e-01 1.64457969e+02] [ 7.23614909e-02 9.97332884e-01 -9.53587793e-03 7.97863110e+00] [ 1.15520656e-01 1.11575899e-03 9.93304451e-01 1.40098681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:164.52, Y:7.98, Z:14.02 [[ 9.89786752e-01 -8.40707209e-02 -1.15127319e-01 1.64516475e+02] [ 8.35220759e-02 9.96459783e-01 -9.58980126e-03 7.97775892e+00] [ 1.15525965e-01 -1.23814454e-04 9.93304453e-01 1.40195092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.58, Y:7.98, Z:14.01 [[ 9.89263497e-01 -9.00249434e-02 -1.15122726e-01 1.64576864e+02] [ 8.95100812e-02 9.95939218e-01 -9.64462662e-03 7.97943885e+00] [ 1.15523495e-01 -7.63567511e-04 9.93304454e-01 1.40079459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.64, Y:7.97, Z:14.01 [[ 9.88762586e-01 -9.53747302e-02 -1.15118239e-01 1.64635323e+02] [ 9.48897849e-02 9.95440545e-01 -9.69789189e-03 7.97395878e+00] [ 1.15518297e-01 -1.33463230e-03 9.93304456e-01 1.40144798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:164.69, Y:7.97, Z:14.02 [[ 9.88535146e-01 -9.77099512e-02 -1.15113123e-01 1.64694472e+02] [ 9.72337539e-02 9.95213733e-01 -9.75824593e-03 7.97156866e+00] [ 1.15515639e-01 -1.54651202e-03 9.93304458e-01 1.40211419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:164.75, Y:7.96, Z:14.03 [[ 9.88571156e-01 -9.73502040e-02 -1.15108673e-01 1.64752765e+02] [ 9.68654975e-02 9.95249130e-01 -9.81045914e-03 7.96366718e+00] [ 1.15516857e-01 -1.45172197e-03 9.93304459e-01 1.40265739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18864 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:164.81, Y:7.96, Z:14.05 [[ 9.88900070e-01 -9.39564521e-02 -1.15103590e-01 1.64808120e+02] [ 9.34419263e-02 9.95575811e-01 -9.86974918e-03 7.96167516e+00] [ 1.15521676e-01 -9.95305479e-04 9.93304461e-01 1.40538732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.87, Y:7.96, Z:14.04 [[ 9.89192553e-01 -9.08320234e-02 -1.15098379e-01 1.64869412e+02] [ 9.02893832e-02 9.95866065e-01 -9.93015040e-03 7.96202995e+00] [ 1.15524545e-01 -5.69330795e-04 9.93304463e-01 1.40405089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.93, Y:7.96, Z:14.05 [[ 9.89871649e-01 -8.31116918e-02 -1.15093726e-01 1.64927429e+02] [ 8.25107659e-02 9.96540164e-01 -9.98378565e-03 7.96426055e+00] [ 1.15525290e-01 3.86194861e-04 9.93304464e-01 1.40478077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:164.98, Y:7.97, Z:14.07 [[ 9.90293508e-01 -7.79311870e-02 -1.15089084e-01 1.64983948e+02] [ 7.72891914e-02 9.96958193e-01 -1.00370154e-02 7.96909761e+00] [ 1.15521202e-01 1.04444889e-03 9.93304465e-01 1.40725623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.04, Y:7.98, Z:14.06 [[ 9.90311590e-01 -7.77080570e-02 -1.15084368e-01 1.65044256e+02] [ 7.70583093e-02 9.96975523e-01 -1.00908046e-02 7.97651317e+00] [ 1.15520435e-01 1.12483389e-03 9.93304467e-01 1.40605354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:165.10, Y:7.99, Z:14.07 [[ 9.90367113e-01 -7.70044559e-02 -1.15079516e-01 1.65102255e+02] [ 7.63435787e-02 9.97029949e-01 -1.01458466e-02 7.98556561e+00] [ 1.15518999e-01 1.26253072e-03 9.93304468e-01 1.40676635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.16, Y:8.00, Z:14.08 [[ 9.90353096e-01 -7.71916887e-02 -1.15074708e-01 1.65158543e+02] [ 7.65257691e-02 9.97015429e-01 -1.02000890e-02 7.99657978e+00] [ 1.15518621e-01 1.29550918e-03 9.93304470e-01 1.40752870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.22, Y:8.01, Z:14.08 [[ 9.90372010e-01 -7.69568273e-02 -1.15069235e-01 1.65215418e+02] [ 7.62821980e-02 9.97033464e-01 -1.02614604e-02 8.00663300e+00] [ 1.15517567e-01 1.38492900e-03 9.93304472e-01 1.40820174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.27, Y:8.02, Z:14.09 [[ 9.90298121e-01 -7.79100617e-02 -1.15063694e-01 1.65272171e+02] [ 7.72346686e-02 9.96959496e-01 -1.03232270e-02 8.01845816e+00] [ 1.15518125e-01 1.33616608e-03 9.93304474e-01 1.40907507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72863999999998 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:165.33, Y:8.03, Z:14.12 [[ 9.90076670e-01 -8.06834340e-02 -1.15058122e-01 1.65327663e+02] [ 8.00195273e-02 9.96739197e-01 -1.03849619e-02 8.03018199e+00] [ 1.15520834e-01 1.07501202e-03 9.93304476e-01 1.41194922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78864 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:165.39, Y:8.04, Z:14.12 [[ 9.89773252e-01 -8.43302784e-02 -1.15053526e-01 1.65386994e+02] [ 8.36850304e-02 9.96437611e-01 -1.04356345e-02 8.04032963e+00] [ 1.15523700e-01 7.00654047e-04 9.93304477e-01 1.41222431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84864 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:165.44, Y:8.05, Z:14.13 [[ 9.89327307e-01 -8.94110036e-02 -1.15052820e-01 1.65443795e+02] [ 8.87990774e-02 9.95994809e-01 -1.04434060e-02 8.05119039e+00] [ 1.15525767e-01 1.15362479e-04 9.93304477e-01 1.41327442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90864 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:165.50, Y:8.06, Z:14.14 [[ 9.89097025e-01 -9.19296559e-02 -1.15047874e-01 1.65501408e+02] [ 9.13284027e-02 9.95765496e-01 -1.04976129e-02 8.05870526e+00] [ 1.15525746e-01 -1.23980905e-04 9.93304478e-01 1.41372771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:165.56, Y:8.07, Z:14.13 [[ 9.88785096e-01 -9.52329815e-02 -1.15042223e-01 1.65562453e+02] [ 9.46468425e-02 9.95454911e-01 -1.05591826e-02 8.06701855e+00] [ 1.15524929e-01 -4.47620822e-04 9.93304480e-01 1.41258326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:165.62, Y:8.07, Z:14.13 [[ 9.88448392e-01 -9.86672446e-02 -1.15041517e-01 1.65620441e+02] [ 9.81033833e-02 9.95120127e-01 -1.05668760e-02 8.07443654e+00] [ 1.15522733e-01 -8.41150391e-04 9.93304480e-01 1.41321116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:165.68, Y:8.08, Z:14.14 [[ 9.88260596e-01 -1.00536411e-01 -1.15036620e-01 1.65677630e+02] [ 9.99789938e-02 9.94932871e-01 -1.06199265e-02 8.08182295e+00] [ 1.15521403e-01 -1.00599058e-03 9.93304482e-01 1.41403494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:165.74, Y:8.09, Z:14.15 [[ 9.88301138e-01 -1.00143483e-01 -1.15031050e-01 1.65735305e+02] [ 9.95764309e-02 9.94972600e-01 -1.06799119e-02 8.08638501e+00] [ 1.15522267e-01 -8.99412353e-04 9.93304483e-01 1.41458470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:165.79, Y:8.09, Z:14.15 [[ 9.88450791e-01 -9.86619102e-02 -1.15025484e-01 1.65792925e+02] [ 9.80779204e-02 9.95120789e-01 -1.07395329e-02 8.09138066e+00] [ 1.15523833e-01 -6.65960469e-04 9.93304485e-01 1.41533892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:165.85, Y:8.10, Z:14.16 [[ 9.88816212e-01 -9.49356572e-02 -1.15020518e-01 1.65851003e+02] [ 9.43203745e-02 9.95483395e-01 -1.07924655e-02 8.09931229e+00] [ 1.15525605e-01 -1.77013432e-04 9.93304487e-01 1.41607348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32863999999998 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:165.91, Y:8.10, Z:14.19 [[ 9.88928926e-01 -9.37603782e-02 -1.15015525e-01 1.65906501e+02] [ 9.31310133e-02 9.95594793e-01 -1.08454176e-02 8.10473112e+00] [ 1.15525728e-01 1.38348480e-05 9.93304488e-01 1.41868170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38863999999998 meters Centerline goodness : 0.998430 with order 1 Centerline is valid? [True, True] Translation: X:165.96, Y:8.11, Z:14.20 [[ 9.88880298e-01 -9.42779153e-02 -1.15010568e-01 1.65964649e+02] [ 9.36459553e-02 9.95545918e-01 -1.08977249e-02 8.11060222e+00] [ 1.15525717e-01 6.27085791e-06 9.93304489e-01 1.41953498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44863999999998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:166.03, Y:8.12, Z:14.18 [[ 9.89099420e-01 -9.19570336e-02 -1.15005397e-01 1.66025604e+02] [ 9.13031190e-02 9.95762920e-01 -1.09520275e-02 8.11921927e+00] [ 1.15525226e-01 3.32292537e-04 9.93304491e-01 1.41821092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50863999999999 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:166.08, Y:8.13, Z:14.21 [[ 9.89365762e-01 -8.90466172e-02 -1.15004733e-01 1.66081373e+02] [ 8.83722910e-02 9.96027228e-01 -1.09589949e-02 8.12918349e+00] [ 1.15523707e-01 6.79222565e-04 9.93304491e-01 1.42069080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56864 meters Centerline goodness : 0.998577 with order 1 Centerline is valid? [True, True] Translation: X:166.14, Y:8.14, Z:14.22 [[ 9.89235557e-01 -9.04880594e-02 -1.14999668e-01 1.66139830e+02] [ 8.98172900e-02 9.95897381e-01 -1.10118961e-02 8.13849383e+00] [ 1.15524313e-01 5.64400609e-04 9.93304492e-01 1.42181273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:166.20, Y:8.15, Z:14.20 [[ 9.89279133e-01 -9.00108810e-02 -1.14999300e-01 1.66201488e+02] [ 8.93364520e-02 9.95940587e-01 -1.10157357e-02 8.14557851e+00] [ 1.15524006e-01 6.24008021e-04 9.93304492e-01 1.42030108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:166.26, Y:8.15, Z:14.21 [[ 9.89109408e-01 -9.18576324e-02 -1.14998930e-01 1.66258379e+02] [ 9.11951916e-02 9.95772065e-01 -1.10196004e-02 8.15239924e+00] [ 1.15524956e-01 4.12240952e-04 9.93304492e-01 1.42096042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74864 meters Centerline goodness : 0.997595 with order 1 Centerline is valid? [True, True] Translation: X:166.31, Y:8.16, Z:14.24 [[ 9.89111623e-01 -9.18411637e-02 -1.14993035e-01 1.66314272e+02] [ 9.11714997e-02 9.95773556e-01 -1.10807764e-02 8.16197581e+00] [ 1.15524695e-01 4.76037271e-04 9.93304494e-01 1.42388824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:166.38, Y:8.17, Z:14.22 [[ 9.89005719e-01 -9.29755784e-02 -1.14992299e-01 1.66376292e+02] [ 9.23126686e-02 9.95668328e-01 -1.10884070e-02 8.17067479e+00] [ 1.15525141e-01 3.51251926e-04 9.93304494e-01 1.42231701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86864 meters Centerline goodness : 0.999557 with order 1 Centerline is valid? [True, True] Translation: X:166.43, Y:8.18, Z:14.25 [[ 9.88591850e-01 -9.72780103e-02 -1.14991929e-01 1.66433421e+02] [ 9.66436500e-02 9.95257237e-01 -1.10922487e-02 8.17582489e+00] [ 1.15525581e-01 -1.47533053e-04 9.93304494e-01 1.42520456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:166.50, Y:8.18, Z:14.24 [[ 9.88039816e-01 -1.02734062e-01 -1.14991453e-01 1.66495212e+02] [ 1.02135933e-01 9.94708552e-01 -1.10971827e-02 8.18208504e+00] [ 1.15523040e-01 -7.80300918e-04 9.93304494e-01 1.42365416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98863999999998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:166.55, Y:8.19, Z:14.24 [[ 9.87817968e-01 -1.04846051e-01 -1.14991164e-01 1.66552918e+02] [ 1.04261832e-01 9.94487937e-01 -1.11001740e-02 8.18786690e+00] [ 1.15521135e-01 -1.02423814e-03 9.93304494e-01 1.42437383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:166.61, Y:8.19, Z:14.25 [[ 9.88017786e-01 -1.02951709e-01 -1.14986084e-01 1.66610683e+02] [ 1.02348607e-01 9.94686073e-01 -1.11525465e-02 8.19403382e+00] [ 1.15523230e-01 -7.49751181e-04 9.93304496e-01 1.42493526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10863999999998 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:166.67, Y:8.20, Z:14.28 [[ 9.88080463e-01 -1.02354147e-01 -1.14980985e-01 1.66667106e+02] [ 1.01740922e-01 9.94747825e-01 -1.12048730e-02 8.19978809e+00] [ 1.15523950e-01 -6.26955345e-04 9.93304497e-01 1.42807767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:166.73, Y:8.21, Z:14.26 [[ 9.87600240e-01 -1.06888991e-01 -1.14980476e-01 1.66729806e+02] [ 1.06305772e-01 9.94270294e-01 -1.12101008e-02 8.20580854e+00] [ 1.15519908e-01 -1.15198990e-03 9.93304497e-01 1.42635021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22863999999998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:166.79, Y:8.21, Z:14.29 [[ 9.86845718e-01 -1.13644543e-01 -1.14980203e-01 1.66786122e+02] [ 1.13106654e-01 9.93519580e-01 -1.12128945e-02 8.20604022e+00] [ 1.15509367e-01 -1.93962915e-03 9.93304497e-01 1.42872752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28864 meters Centerline goodness : 0.990677 with order 1 Centerline is valid? [True, True] Translation: X:166.84, Y:8.24, Z:14.28 [[ 9.92068483e-01 -5.08018854e-02 -1.14975188e-01 1.66843331e+02] [ 4.98357164e-02 9.98693908e-01 -1.12640820e-02 8.24345031e+00] [ 1.15397257e-01 5.44486981e-03 9.93304498e-01 1.42776951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:166.91, Y:8.21, Z:14.28 [[ 9.85848108e-01 -1.22001871e-01 -1.14974130e-01 1.66905981e+02] [ 1.21513325e-01 9.92525762e-01 -1.12748755e-02 8.21024386e+00] [ 1.15490342e-01 -2.85557412e-03 9.93304498e-01 1.42823183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:166.96, Y:8.21, Z:14.29 [[ 9.85879569e-01 -1.21751875e-01 -1.14969374e-01 1.66964802e+02] [ 1.21256007e-01 9.92556682e-01 -1.13231710e-02 8.20984200e+00] [ 1.15492237e-01 -2.77744423e-03 9.93304500e-01 1.42878027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.02, Y:8.21, Z:14.29 [[ 9.85875138e-01 -1.21792412e-01 -1.14964434e-01 1.67022393e+02] [ 1.21290998e-01 9.92551836e-01 -1.13731086e-02 8.21074233e+00] [ 1.15493318e-01 -2.73168580e-03 9.93304501e-01 1.42948933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.08, Y:8.21, Z:14.30 [[ 9.85644447e-01 -1.23650785e-01 -1.14958716e-01 1.67081246e+02] [ 1.23155256e-01 9.92321583e-01 -1.14306125e-02 8.20720728e+00] [ 1.15489419e-01 -2.89125037e-03 9.93304503e-01 1.43018489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:167.14, Y:8.20, Z:14.31 [[ 9.85585341e-01 -1.24125712e-01 -1.14953660e-01 1.67140207e+02] [ 1.23627499e-01 9.92262275e-01 -1.14812410e-02 8.20320469e+00] [ 1.15489297e-01 -2.89569055e-03 9.93304504e-01 1.43078732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.20, Y:8.20, Z:14.31 [[ 9.86238000e-01 -1.18833634e-01 -1.14948577e-01 1.67197994e+02] [ 1.18293686e-01 9.92911687e-01 -1.15319073e-02 8.20104471e+00] [ 1.15504164e-01 -2.22448559e-03 9.93304505e-01 1.43147615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70863999999997 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:167.25, Y:8.20, Z:14.35 [[ 9.86773147e-01 -1.14310716e-01 -1.14942664e-01 1.67254926e+02] [ 1.13733347e-01 9.93443700e-01 -1.15905415e-02 8.20040963e+00] [ 1.15513989e-01 -1.63557889e-03 9.93304507e-01 1.43465586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:167.32, Y:8.20, Z:14.35 [[ 9.87713408e-01 -1.05879763e-01 -1.14942159e-01 1.67315710e+02] [ 1.05244868e-01 9.94378731e-01 -1.15955523e-02 8.20081796e+00] [ 1.15523772e-01 -6.43989794e-04 9.93304507e-01 1.43491721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:167.38, Y:8.21, Z:14.33 [[ 9.88055995e-01 -1.02633904e-01 -1.14941869e-01 1.67377665e+02] [ 1.01976778e-01 9.94719163e-01 -1.15984224e-02 8.20656408e+00] [ 1.15525271e-01 -2.61510650e-04 9.93304507e-01 1.43340917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88863999999998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:167.43, Y:8.21, Z:14.36 [[ 9.88136485e-01 -1.01856477e-01 -1.14941484e-01 1.67433758e+02] [ 1.01193665e-01 9.94799090e-01 -1.16022374e-02 8.21397653e+00] [ 1.15525447e-01 -1.66756015e-04 9.93304507e-01 1.43640635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94863999999998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:167.49, Y:8.23, Z:14.37 [[ 9.88684569e-01 -9.63921194e-02 -1.14940777e-01 1.67491285e+02] [ 9.56916700e-02 9.95343323e-01 -1.16092383e-02 8.22606227e+00] [ 1.15524574e-01 4.78999867e-04 9.93304507e-01 1.43688705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00863999999999 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:167.55, Y:8.24, Z:14.38 [[ 9.88744720e-01 -9.57796465e-02 -1.14935365e-01 1.67549102e+02] [ 9.50688724e-02 9.95402378e-01 -1.16625748e-02 8.23707056e+00] [ 1.15523973e-01 6.04533740e-04 9.93304508e-01 1.43750479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:167.61, Y:8.25, Z:14.38 [[ 9.88504812e-01 -9.82312050e-02 -1.14929838e-01 1.67606014e+02] [ 9.75306383e-02 9.95163550e-01 -1.17167959e-02 8.24604381e+00] [ 1.15524940e-01 3.72928698e-04 9.93304510e-01 1.43819565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12864 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:167.66, Y:8.26, Z:14.39 [[ 9.87963794e-01 -1.03538107e-01 -1.14923462e-01 1.67664173e+02] [ 1.02866072e-01 9.94625470e-01 -1.17790050e-02 8.25553122e+00] [ 1.15525378e-01 -1.84494591e-04 9.93304512e-01 1.43903167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18864 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:167.72, Y:8.26, Z:14.40 [[ 9.87850866e-01 -1.04610933e-01 -1.14922668e-01 1.67723262e+02] [ 1.03945232e-01 9.94513178e-01 -1.17867433e-02 8.26392970e+00] [ 1.15525130e-01 -3.02118767e-04 9.93304512e-01 1.43966163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:167.78, Y:8.27, Z:14.40 [[ 9.88050351e-01 -1.02710588e-01 -1.14921883e-01 1.67781092e+02] [ 1.02031183e-01 9.94711280e-01 -1.17943900e-02 8.27193852e+00] [ 1.15525502e-01 -7.21646280e-05 9.93304512e-01 1.44025781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:167.84, Y:8.28, Z:14.39 [[ 9.88323788e-01 -1.00051614e-01 -1.14916341e-01 1.67842270e+02] [ 9.93480392e-02 9.94982205e-01 -1.18481457e-02 8.27667453e+00] [ 1.15525141e-01 2.93091046e-04 9.93304513e-01 1.43897901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36864 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:167.90, Y:8.28, Z:14.42 [[ 9.88186903e-01 -1.01395565e-01 -1.14915549e-01 1.67899041e+02] [ 1.00700152e-01 9.94846178e-01 -1.18558247e-02 8.28160909e+00] [ 1.15525423e-01 1.43757402e-04 9.93304513e-01 1.44189415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42863999999997 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:167.96, Y:8.29, Z:14.42 [[ 9.88110578e-01 -1.02137133e-01 -1.14915148e-01 1.67956936e+02] [ 1.01446266e-01 9.94770326e-01 -1.18597115e-02 8.28962635e+00] [ 1.15525496e-01 6.09937175e-05 9.93304513e-01 1.44228196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48863999999998 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:168.02, Y:8.30, Z:14.43 [[ 9.88220152e-01 -1.01077768e-01 -1.14909596e-01 1.68015330e+02] [ 1.00373535e-01 9.94878499e-01 -1.19132609e-02 8.29843092e+00] [ 1.15525252e-01 2.39042131e-04 9.93304515e-01 1.44332991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:168.08, Y:8.31, Z:14.42 [[ 9.88143599e-01 -1.01823890e-01 -1.14909196e-01 1.68076779e+02] [ 1.01124235e-01 9.94802428e-01 -1.19171239e-02 8.30680603e+00] [ 1.15525395e-01 1.55725204e-04 9.93304515e-01 1.44174221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:168.13, Y:8.32, Z:14.43 [[ 9.87490578e-01 -1.07974033e-01 -1.14908513e-01 1.68134788e+02] [ 1.07315084e-01 9.94153559e-01 -1.19237046e-02 8.31510259e+00] [ 1.15524157e-01 -5.56870688e-04 9.93304515e-01 1.44253839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.19, Y:8.32, Z:14.43 [[ 9.87015009e-01 -1.12243904e-01 -1.14902903e-01 1.68192783e+02] [ 1.11607514e-01 9.93680181e-01 -1.19775228e-02 8.32289836e+00] [ 1.15521141e-01 -1.00203248e-03 9.93304516e-01 1.44317793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:168.25, Y:8.33, Z:14.44 [[ 9.86641575e-01 -1.15485889e-01 -1.14897394e-01 1.68250356e+02] [ 1.14865273e-01 9.93308233e-01 -1.20301363e-02 8.32997505e+00] [ 1.15517839e-01 -1.32828791e-03 9.93304518e-01 1.44386202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78864 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:168.31, Y:8.34, Z:14.46 [[ 9.86732880e-01 -1.14709470e-01 -1.14891081e-01 1.68306115e+02] [ 1.14076623e-01 9.93398386e-01 -1.20901301e-02 8.33624105e+00] [ 1.15519467e-01 -1.17665767e-03 9.93304519e-01 1.44647841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:168.37, Y:8.34, Z:14.45 [[ 9.86457500e-01 -1.17055549e-01 -1.14889510e-01 1.68367048e+02] [ 1.16436817e-01 9.93124330e-01 -1.21050409e-02 8.34419757e+00] [ 1.15516530e-01 -1.43626044e-03 9.93304519e-01 1.44534363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:168.42, Y:8.35, Z:14.46 [[ 9.86187419e-01 -1.19310332e-01 -1.14888726e-01 1.68423990e+02] [ 1.18705977e-01 9.92855568e-01 -1.21124774e-02 8.34893947e+00] [ 1.15513055e-01 -1.69280565e-03 9.93304520e-01 1.44599101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:168.48, Y:8.35, Z:14.47 [[ 9.85983676e-01 -1.20988494e-01 -1.14882439e-01 1.68481380e+02] [ 1.20388574e-01 9.92652224e-01 -1.21718250e-02 8.35469554e+00] [ 1.15510959e-01 -1.82931215e-03 9.93304521e-01 1.44658182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02864 meters Centerline goodness : 0.998039 with order 1 Centerline is valid? [True, True] Translation: X:168.54, Y:8.36, Z:14.50 [[ 9.85565273e-01 -1.24356713e-01 -1.14876020e-01 1.68538603e+02] [ 1.23772558e-01 9.92235219e-01 -1.22321095e-02 8.35563943e+00] [ 1.15505177e-01 -2.16295638e-03 9.93304523e-01 1.44970976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08864 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:168.60, Y:8.36, Z:14.48 [[ 9.84798359e-01 -1.30291248e-01 -1.14875507e-01 1.68601526e+02] [ 1.29746720e-01 9.91471657e-01 -1.22369192e-02 8.35740188e+00] [ 1.15490173e-01 -2.85382240e-03 9.93304523e-01 1.44785003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14863999999997 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:168.66, Y:8.36, Z:14.49 [[ 9.84254313e-01 -1.34339585e-01 -1.14875253e-01 1.68659039e+02] [ 1.33822224e-01 9.90929771e-01 -1.22393020e-02 8.35537672e+00] [ 1.15477531e-01 -3.32627609e-03 9.93304523e-01 1.44859948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20863999999997 meters Centerline goodness : 0.994749 with order 1 Centerline is valid? [True, True] Translation: X:168.72, Y:8.35, Z:14.52 [[ 9.83876541e-01 -1.37084047e-01 -1.14869126e-01 1.68715548e+02] [ 1.36578629e-01 9.90552913e-01 -1.22965391e-02 8.35388862e+00] [ 1.15469607e-01 -3.59039140e-03 9.93304525e-01 1.45210960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26863999999998 meters Centerline goodness : 0.994492 with order 1 Centerline is valid? [True, True] Translation: X:168.77, Y:8.35, Z:14.53 [[ 9.83728287e-01 -1.38144455e-01 -1.14868474e-01 1.68774822e+02] [ 1.37645524e-01 9.90405147e-01 -1.23026297e-02 8.35289977e+00] [ 1.15465868e-01 -3.70868647e-03 9.93304525e-01 1.45259937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32863999999998 meters Centerline goodness : 0.993426 with order 1 Centerline is valid? [True, True] Translation: X:168.83, Y:8.35, Z:14.53 [[ 9.83911845e-01 -1.36832369e-01 -1.14866805e-01 1.68832954e+02] [ 1.36322719e-01 9.90587895e-01 -1.23181898e-02 8.35493713e+00] [ 1.15471194e-01 -3.53894230e-03 9.93304525e-01 1.45334844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38863999999998 meters Centerline goodness : 0.997592 with order 1 Centerline is valid? [True, True] Translation: X:168.90, Y:8.36, Z:14.51 [[ 9.84152819e-01 -1.35092921e-01 -1.14861356e-01 1.68895734e+02] [ 1.34565568e-01 9.90827493e-01 -1.23687977e-02 8.35652901e+00] [ 1.15478726e-01 -3.28359647e-03 9.93304526e-01 1.45143141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44863999999998 meters Centerline goodness : 0.997199 with order 1 Centerline is valid? [True, True] Translation: X:168.95, Y:8.35, Z:14.52 [[ 9.84388434e-01 -1.33365422e-01 -1.14861109e-01 1.68953639e+02] [ 1.32826088e-01 9.91062151e-01 -1.23710936e-02 8.35386429e+00] [ 1.15484373e-01 -3.07859030e-03 9.93304526e-01 1.45199838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50863999999999 meters Centerline goodness : 0.992588 with order 1 Centerline is valid? [True, True] Translation: X:169.01, Y:8.36, Z:14.55 [[ 9.84776587e-01 -1.30473869e-01 -1.14854877e-01 1.69010636e+02] [ 1.29908224e-01 9.91448123e-01 -1.24286821e-02 8.35631270e+00] [ 1.15494271e-01 -2.68111797e-03 9.93304528e-01 1.45498963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56864 meters Centerline goodness : 0.996170 with order 1 Centerline is valid? [True, True] Translation: X:169.07, Y:8.36, Z:14.53 [[ 9.84843441e-01 -1.29968631e-01 -1.14854482e-01 1.69073490e+02] [ 1.29399139e-01 9.91514649e-01 -1.24323327e-02 8.35982501e+00] [ 1.15495715e-01 -2.61816976e-03 9.93304528e-01 1.45344645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62864 meters Centerline goodness : 0.996118 with order 1 Centerline is valid? [True, True] Translation: X:169.13, Y:8.36, Z:14.54 [[ 9.84861721e-01 -1.29830037e-01 -1.14854482e-01 1.69131847e+02] [ 1.29259605e-01 9.91532849e-01 -1.24323327e-02 8.36107643e+00] [ 1.15496082e-01 -2.60191646e-03 9.93304528e-01 1.45400299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68864 meters Centerline goodness : 0.992091 with order 1 Centerline is valid? [True, True] Translation: X:169.19, Y:8.36, Z:14.57 [[ 9.84869877e-01 -1.29773807e-01 -1.14848089e-01 1.69189125e+02] [ 1.29196143e-01 9.91540382e-01 -1.24911128e-02 8.36266898e+00] [ 1.15497537e-01 -2.53580943e-03 9.93304530e-01 1.45684065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74864 meters Centerline goodness : 0.995488 with order 1 Centerline is valid? [True, True] Translation: X:169.25, Y:8.37, Z:14.55 [[ 9.84737161e-01 -1.30777413e-01 -1.14847693e-01 1.69250737e+02] [ 1.30206124e-01 9.91408214e-01 -1.24947509e-02 8.36821538e+00] [ 1.15494978e-01 -2.64982739e-03 9.93304530e-01 1.45544119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80864 meters Centerline goodness : 0.992414 with order 1 Centerline is valid? [True, True] Translation: X:169.31, Y:8.37, Z:14.58 [[ 9.85088925e-01 -1.28101258e-01 -1.14847189e-01 1.69307406e+02] [ 1.27511304e-01 9.91758354e-01 -1.24993847e-02 8.37082095e+00] [ 1.15501846e-01 -2.33130935e-03 9.93304530e-01 1.45777920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86864 meters Centerline goodness : 0.993224 with order 1 Centerline is valid? [True, True] Translation: X:169.37, Y:8.38, Z:14.58 [[ 9.85143223e-01 -1.27688060e-01 -1.14841581e-01 1.69365350e+02] [ 1.27089329e-01 9.91811868e-01 -1.25506989e-02 8.37695040e+00] [ 1.15503818e-01 -2.23090349e-03 9.93304531e-01 1.45818279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92863999999997 meters Centerline goodness : 0.995144 with order 1 Centerline is valid? [True, True] Translation: X:169.43, Y:8.38, Z:14.57 [[ 9.84947435e-01 -1.29191440e-01 -1.14839553e-01 1.69425317e+02] [ 1.28600728e-01 9.91616795e-01 -1.25692266e-02 8.38225617e+00] [ 1.15500666e-01 -2.38842269e-03 9.93304531e-01 1.45742270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98863999999998 meters Centerline goodness : 0.995340 with order 1 Centerline is valid? [True, True] Translation: X:169.48, Y:8.39, Z:14.58 [[ 9.84739279e-01 -1.30773593e-01 -1.14833875e-01 1.69482301e+02] [ 1.30187574e-01 9.91409052e-01 -1.26208921e-02 8.38929484e+00] [ 1.15497823e-01 -2.52165549e-03 9.93304532e-01 1.45817930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04863999999998 meters Centerline goodness : 0.996021 with order 1 Centerline is valid? [True, True] Translation: X:169.54, Y:8.39, Z:14.59 [[ 9.84286988e-01 -1.34140942e-01 -1.14827402e-01 1.69539855e+02] [ 1.33570903e-01 9.90958144e-01 -1.26795193e-02 8.39197700e+00] [ 1.15489991e-01 -2.85731392e-03 9.93304534e-01 1.45877450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10863999999998 meters Centerline goodness : 0.991162 with order 1 Centerline is valid? [True, True] Translation: X:169.60, Y:8.40, Z:14.62 [[ 9.83771304e-01 -1.37877469e-01 -1.14820840e-01 1.69596600e+02] [ 1.37325869e-01 9.90444008e-01 -1.27386637e-02 8.39520035e+00] [ 1.15479988e-01 -3.23593983e-03 9.93304536e-01 1.46188393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16863999999998 meters Centerline goodness : 0.995142 with order 1 Centerline is valid? [True, True] Translation: X:169.66, Y:8.40, Z:14.60 [[ 9.83533826e-01 -1.39561880e-01 -1.14820275e-01 1.69659225e+02] [ 1.39021113e-01 9.90207416e-01 -1.27437512e-02 8.39987039e+00] [ 1.15474430e-01 -3.42853211e-03 9.93304536e-01 1.46033618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22863999999998 meters Centerline goodness : 0.995634 with order 1 Centerline is valid? [True, True] Translation: X:169.72, Y:8.40, Z:14.61 [[ 9.83349596e-01 -1.40854336e-01 -1.14819978e-01 1.69717324e+02] [ 1.40322028e-01 9.90023867e-01 -1.27464305e-02 8.39914980e+00] [ 1.15469909e-01 -3.57757491e-03 9.93304536e-01 1.46105885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28864 meters Centerline goodness : 0.992491 with order 1 Centerline is valid? [True, True] Translation: X:169.77, Y:8.40, Z:14.64 [[ 9.83870338e-01 -1.37175091e-01 -1.14813551e-01 1.69774459e+02] [ 1.36611101e-01 9.90542005e-01 -1.28040601e-02 8.40487308e+00] [ 1.15484043e-01 -3.08727072e-03 9.93304538e-01 1.46359502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34864 meters Centerline goodness : 0.996615 with order 1 Centerline is valid? [True, True] Translation: X:169.84, Y:8.41, Z:14.62 [[ 9.83590178e-01 -1.39170051e-01 -1.14813149e-01 1.69836259e+02] [ 1.38619171e-01 9.90262939e-01 -1.28076685e-02 8.40900721e+00] [ 1.15477650e-01 -3.31780659e-03 9.93304538e-01 1.46237546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40864 meters Centerline goodness : 0.997396 with order 1 Centerline is valid? [True, True] Translation: X:169.89, Y:8.41, Z:14.63 [[ 9.83710050e-01 -1.38320535e-01 -1.14812744e-01 1.69893517e+02] [ 1.37763469e-01 9.90382299e-01 -1.28112931e-02 8.41272909e+00] [ 1.15480575e-01 -3.21440423e-03 9.93304538e-01 1.46301516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46864 meters Centerline goodness : 0.997642 with order 1 Centerline is valid? [True, True] Translation: X:169.95, Y:8.42, Z:14.64 [[ 9.84177033e-01 -1.34963307e-01 -1.14806240e-01 1.69951369e+02] [ 1.34376714e-01 9.90846749e-01 -1.28693217e-02 8.41889226e+00] [ 1.15492276e-01 -2.76159439e-03 9.93304539e-01 1.46367554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52864 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:170.01, Y:8.43, Z:14.64 [[ 9.84625360e-01 -1.31657778e-01 -1.14800393e-01 1.70009278e+02] [ 1.31042737e-01 9.91292511e-01 -1.29212674e-02 8.42611730e+00] [ 1.15501955e-01 -2.32115025e-03 9.93304541e-01 1.46419153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58864 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:170.07, Y:8.43, Z:14.65 [[ 9.84556746e-01 -1.32174984e-01 -1.14794542e-01 1.70067042e+02] [ 1.31557412e-01 9.91223662e-01 -1.29730414e-02 8.43289505e+00] [ 1.15501778e-01 -2.32937746e-03 9.93304542e-01 1.46476056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64863999999997 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:170.12, Y:8.44, Z:14.66 [[ 9.84123661e-01 -1.35366885e-01 -1.14788617e-01 1.70123648e+02] [ 1.34764847e-01 9.90791996e-01 -1.30252590e-02 8.44029816e+00] [ 1.15494832e-01 -2.65100480e-03 9.93304543e-01 1.46568168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.18, Y:8.45, Z:14.66 [[ 9.83905647e-01 -1.36948132e-01 -1.14781908e-01 1.70181169e+02] [ 1.36349947e-01 9.90574327e-01 -1.30841220e-02 8.44883357e+00] [ 1.15491857e-01 -2.77696547e-03 9.93304545e-01 1.46625753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.24, Y:8.45, Z:14.67 [[ 9.84117653e-01 -1.35421209e-01 -1.14776046e-01 1.70239109e+02] [ 1.34806706e-01 9.90784848e-01 -1.31353444e-02 8.45467146e+00] [ 1.15497171e-01 -2.54585627e-03 9.93304546e-01 1.46688977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:170.30, Y:8.46, Z:14.68 [[ 9.83980027e-01 -1.36422559e-01 -1.14770168e-01 1.70297174e+02] [ 1.35808876e-01 9.90647296e-01 -1.31865028e-02 8.46042746e+00] [ 1.15495693e-01 -2.61155217e-03 9.93304548e-01 1.46763957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.36, Y:8.47, Z:14.68 [[ 9.84018510e-01 -1.36149689e-01 -1.14764253e-01 1.70355801e+02] [ 1.35528180e-01 9.90685053e-01 -1.32377824e-02 8.46670205e+00] [ 1.15497550e-01 -2.52756741e-03 9.93304549e-01 1.46819759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.41, Y:8.48, Z:14.69 [[ 9.84864270e-01 -1.29895760e-01 -1.14758269e-01 1.70413359e+02] [ 1.29225893e-01 9.91526126e-01 -1.32894555e-02 8.47551048e+00] [ 1.15512066e-01 -1.74142989e-03 9.93304550e-01 1.46893939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.47, Y:8.49, Z:14.69 [[ 9.85625958e-01 -1.23989482e-01 -1.14752248e-01 1.70470678e+02] [ 1.23273661e-01 9.92283032e-01 -1.33412523e-02 8.48630255e+00] [ 1.15520883e-01 -9.96445106e-04 9.93304552e-01 1.46947366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.53, Y:8.50, Z:14.70 [[ 9.86440774e-01 -1.17337714e-01 -1.14745197e-01 1.70527692e+02] [ 1.16569979e-01 9.93092058e-01 -1.34016185e-02 8.50018826e+00] [ 1.15525060e-01 -1.55942375e-04 9.93304554e-01 1.47004633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:170.58, Y:8.51, Z:14.73 [[ 9.86110183e-01 -1.20090270e-01 -1.14738985e-01 1.70581417e+02] [ 1.19334937e-01 9.92762885e-01 -1.34545973e-02 8.51215134e+00] [ 1.15524372e-01 -4.24654087e-04 9.93304555e-01 1.47289519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:170.64, Y:8.52, Z:14.71 [[ 9.85479749e-01 -1.25165027e-01 -1.14731773e-01 1.70640763e+02] [ 1.24436824e-01 9.92135474e-01 -1.35158171e-02 8.52485851e+00] [ 1.15521170e-01 -9.57293422e-04 9.93304557e-01 1.47148185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:170.70, Y:8.54, Z:14.72 [[ 9.85068052e-01 -1.28370567e-01 -1.14725458e-01 1.70697167e+02] [ 1.27657804e-01 9.91725447e-01 -1.35692127e-02 8.53594280e+00] [ 1.15518044e-01 -1.27900205e-03 9.93304558e-01 1.47215121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:170.75, Y:8.55, Z:14.75 [[ 9.84849699e-01 -1.30041385e-01 -1.14718386e-01 1.70752640e+02] [ 1.29332982e-01 9.91507558e-01 -1.36287406e-02 8.54575782e+00] [ 1.15516447e-01 -1.41460988e-03 9.93304560e-01 1.47467506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:170.81, Y:8.55, Z:14.74 [[ 9.84569062e-01 -1.32154813e-01 -1.14712106e-01 1.70812562e+02] [ 1.31454567e-01 9.91227782e-01 -1.36813999e-02 8.55425560e+00] [ 1.15513889e-01 -1.60914710e-03 9.93304562e-01 1.47358150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42863999999997 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:170.87, Y:8.56, Z:14.76 [[ 9.84183197e-01 -1.35003722e-01 -1.14705841e-01 1.70869107e+02] [ 1.34316652e-01 9.90843288e-01 -1.37337303e-02 8.56256930e+00] [ 1.15509617e-01 -1.89039793e-03 9.93304563e-01 1.47643848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48863999999998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:170.93, Y:8.57, Z:14.77 [[ 9.84109914e-01 -1.35538564e-01 -1.14703855e-01 1.70926869e+02] [ 1.34853185e-01 9.90770179e-01 -1.37502948e-02 8.56976551e+00] [ 1.15508854e-01 -1.93637871e-03 9.93304563e-01 1.47715522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54863999999998 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:170.98, Y:8.58, Z:14.78 [[ 9.84230320e-01 -1.34666951e-01 -1.14697381e-01 1.70984919e+02] [ 1.33969405e-01 9.90889321e-01 -1.38040845e-02 8.57792696e+00] [ 1.15511364e-01 -1.77954151e-03 9.93304565e-01 1.47787221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60863999999998 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:171.04, Y:8.59, Z:14.79 [[ 9.84630060e-01 -1.31718073e-01 -1.14690866e-01 1.71042025e+02] [ 1.30994304e-01 9.91286259e-01 -1.38580082e-02 8.58976470e+00] [ 1.15516830e-01 -1.37883875e-03 9.93304566e-01 1.47868368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.10, Y:8.60, Z:14.77 [[ 9.84909781e-01 -1.29615717e-01 -1.14684303e-01 1.71103087e+02] [ 1.28871439e-01 9.91563717e-01 -1.39121134e-02 8.60216193e+00] [ 1.15520022e-01 -1.07735457e-03 9.93304567e-01 1.47692506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:171.16, Y:8.62, Z:14.77 [[ 9.84875181e-01 -1.29879175e-01 -1.14683379e-01 1.71160177e+02] [ 1.29135791e-01 9.91529217e-01 -1.39197247e-02 8.61532905e+00] [ 1.15519803e-01 -1.10053754e-03 9.93304568e-01 1.47740103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78864 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:171.21, Y:8.63, Z:14.81 [[ 9.84195907e-01 -1.34935536e-01 -1.14677013e-01 1.71214811e+02] [ 1.34220248e-01 9.90853021e-01 -1.39719778e-02 8.62622251e+00] [ 1.15513381e-01 -1.64081379e-03 9.93304569e-01 1.48054103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:171.27, Y:8.64, Z:14.81 [[ 9.83614278e-01 -1.39113447e-01 -1.14675202e-01 1.71273950e+02] [ 1.38424703e-01 9.90274190e-01 -1.39868243e-02 8.63537193e+00] [ 1.15505648e-01 -2.11624071e-03 9.93304569e-01 1.48073949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90864 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:171.33, Y:8.64, Z:14.82 [[ 9.83561567e-01 -1.39486385e-01 -1.14674289e-01 1.71331242e+02] [ 1.38799295e-01 9.90221650e-01 -1.39943033e-02 8.64213691e+00] [ 1.15504979e-01 -2.15245154e-03 9.93304569e-01 1.48184192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:171.39, Y:8.65, Z:14.80 [[ 9.83460056e-01 -1.40201762e-01 -1.14672510e-01 1.71392430e+02] [ 1.39517819e-01 9.90120462e-01 -1.40088685e-02 8.64718687e+00] [ 1.15503667e-01 -2.22169583e-03 9.93304569e-01 1.48022330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02864 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:171.45, Y:8.65, Z:14.83 [[ 9.83349611e-01 -1.40975397e-01 -1.14671184e-01 1.71447896e+02] [ 1.40295429e-01 9.90010424e-01 -1.40197128e-02 8.65374401e+00] [ 1.15502102e-01 -2.30156384e-03 9.93304569e-01 1.48335985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08864 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:171.51, Y:8.66, Z:14.84 [[ 9.82991131e-01 -1.43455979e-01 -1.14668294e-01 1.71506446e+02] [ 1.42790067e-01 9.89653365e-01 -1.40433127e-02 8.65948129e+00] [ 1.15496460e-01 -2.56904156e-03 9.93304569e-01 1.48411744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14863999999997 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:171.56, Y:8.66, Z:14.85 [[ 9.83041516e-01 -1.43114996e-01 -1.14662444e-01 1.71564672e+02] [ 1.42441224e-01 9.89702957e-01 -1.40909136e-02 8.66415401e+00] [ 1.15498381e-01 -2.48070576e-03 9.93304571e-01 1.48486679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20863999999997 meters Centerline goodness : 0.998625 with order 1 Centerline is valid? [True, True] Translation: X:171.62, Y:8.67, Z:14.86 [[ 9.83232770e-01 -1.41800148e-01 -1.14656171e-01 1.71622911e+02] [ 1.41111539e-01 9.89892693e-01 -1.41417754e-02 8.67101832e+00] [ 1.15502612e-01 -2.27465172e-03 9.93304572e-01 1.48573276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.69, Y:8.68, Z:14.84 [[ 9.83319169e-01 -1.41204538e-01 -1.14650295e-01 1.71685218e+02] [ 1.40506360e-01 9.89978095e-01 -1.41892562e-02 8.67825461e+00] [ 1.15504868e-01 -2.15652801e-03 9.93304573e-01 1.48395927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:171.74, Y:8.68, Z:14.85 [[ 9.83062571e-01 -1.42980404e-01 -1.14649837e-01 1.71742731e+02] [ 1.42293823e-01 9.89722702e-01 -1.41929582e-02 8.68230317e+00] [ 1.15500861e-01 -2.36139760e-03 9.93304573e-01 1.48482238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.80, Y:8.69, Z:14.86 [[ 9.82771260e-01 -1.44974972e-01 -1.14642522e-01 1.71799784e+02] [ 1.44295046e-01 9.89432072e-01 -1.42518021e-02 8.68623117e+00] [ 1.15497142e-01 -2.53608645e-03 9.93304575e-01 1.48563538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:171.86, Y:8.69, Z:14.86 [[ 9.83066813e-01 -1.42962946e-01 -1.14635240e-01 1.71857365e+02] [ 1.42262587e-01 9.89725506e-01 -1.43101383e-02 8.69294023e+00] [ 1.15503240e-01 -2.24048369e-03 9.93304577e-01 1.48634632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:171.91, Y:8.70, Z:14.87 [[ 9.84094331e-01 -1.35715842e-01 -1.14627910e-01 1.71914399e+02] [ 1.34959631e-01 9.90746911e-01 -1.43686119e-02 8.70284561e+00] [ 1.15517296e-01 -1.33007094e-03 9.93304578e-01 1.48713403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:171.97, Y:8.71, Z:14.88 [[ 9.84270995e-01 -1.34430577e-01 -1.14625604e-01 1.71972156e+02] [ 1.33663539e-01 9.90922334e-01 -1.43869840e-02 8.71139070e+00] [ 1.15519122e-01 -1.16057294e-03 9.93304578e-01 1.48799487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:172.03, Y:8.72, Z:14.89 [[ 9.83887707e-01 -1.37213203e-01 -1.14619003e-01 1.72030275e+02] [ 1.36458872e-01 9.90540499e-01 -1.44393829e-02 8.71861204e+00] [ 1.15516039e-01 -1.43404866e-03 9.93304580e-01 1.48872171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:172.09, Y:8.73, Z:14.90 [[ 9.84068548e-01 -1.35915763e-01 -1.14612381e-01 1.72086661e+02] [ 1.35146561e-01 9.90719635e-01 -1.44917573e-02 8.72783112e+00] [ 1.15518395e-01 -1.22858661e-03 9.93304581e-01 1.48952001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:172.14, Y:8.74, Z:14.90 [[ 9.84658710e-01 -1.31578742e-01 -1.14604797e-01 1.72144013e+02] [ 1.30773291e-01 9.91305503e-01 -1.45514934e-02 8.73946848e+00] [ 1.15523033e-01 -6.58991689e-04 9.93304583e-01 1.49033534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.20, Y:8.75, Z:14.91 [[ 9.84881256e-01 -1.29908403e-01 -1.14598076e-01 1.72201212e+02] [ 1.29085543e-01 9.91525914e-01 -1.46042316e-02 8.74910198e+00] [ 1.15524175e-01 -4.09520884e-04 9.93304584e-01 1.49102830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.26, Y:8.76, Z:14.92 [[ 9.84402311e-01 -1.33495079e-01 -1.14591248e-01 1.72258244e+02] [ 1.32690214e-01 9.91049172e-01 -1.46576104e-02 8.75566928e+00] [ 1.15522281e-01 -7.76151765e-04 9.93304586e-01 1.49170569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.32, Y:8.76, Z:14.92 [[ 9.83851902e-01 -1.37499303e-01 -1.14583493e-01 1.72315173e+02] [ 1.36714458e-01 9.90501155e-01 -1.47179870e-02 8.76284525e+00] [ 1.15518795e-01 -1.18490068e-03 9.93304588e-01 1.49236760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:172.37, Y:8.77, Z:14.93 [[ 9.83270390e-01 -1.41604220e-01 -1.14575671e-01 1.72372938e+02] [ 1.40840067e-01 9.89922051e-01 -1.47786350e-02 8.76996407e+00] [ 1.15513700e-01 -1.60545096e-03 9.93304590e-01 1.49313706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.43, Y:8.77, Z:14.94 [[ 9.82832168e-01 -1.44619784e-01 -1.14568963e-01 1.72431282e+02] [ 1.43870000e-01 9.89485463e-01 -1.48304549e-02 8.77462192e+00] [ 1.15509101e-01 -1.90718857e-03 9.93304591e-01 1.49388591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.49, Y:8.78, Z:14.94 [[ 9.82821804e-01 -1.44695503e-01 -1.14562268e-01 1.72489608e+02] [ 1.43940225e-01 9.89474476e-01 -1.48819982e-02 8.77787170e+00] [ 1.15509798e-01 -1.86376628e-03 9.93304592e-01 1.49439542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:172.55, Y:8.78, Z:14.95 [[ 9.83177398e-01 -1.42264705e-01 -1.14555483e-01 1.72547693e+02] [ 1.41486915e-01 9.89827473e-01 -1.49340461e-02 8.78211492e+00] [ 1.15514752e-01 -1.52528523e-03 9.93304594e-01 1.49504409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:172.61, Y:8.79, Z:14.96 [[ 9.83775372e-01 -1.38074581e-01 -1.14548803e-01 1.72605512e+02] [ 1.37262520e-01 9.90421348e-01 -1.49851058e-02 8.78957148e+00] [ 1.15520642e-01 -9.81279376e-04 9.93304595e-01 1.49564084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.66, Y:8.80, Z:14.96 [[ 9.84349047e-01 -1.33929413e-01 -1.14541988e-01 1.72663185e+02] [ 1.33083323e-01 9.90990776e-01 -1.50370197e-02 8.80060810e+00] [ 1.15523953e-01 -4.41952400e-04 9.93304596e-01 1.49614345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:172.72, Y:8.81, Z:14.97 [[ 9.84340537e-01 -1.33997805e-01 -1.14535127e-01 1.72720410e+02] [ 1.33146117e-01 9.90981549e-01 -1.50891008e-02 8.81084796e+00] [ 1.15524104e-01 -3.97093789e-04 9.93304598e-01 1.49681249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.78, Y:8.82, Z:14.97 [[ 9.84174794e-01 -1.35215647e-01 -1.14528179e-01 1.72777899e+02] [ 1.34366061e-01 9.90816074e-01 -1.51416541e-02 8.82185696e+00] [ 1.15523749e-01 -4.86666056e-04 9.93304599e-01 1.49743236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.84, Y:8.84, Z:14.98 [[ 9.84187502e-01 -1.35129001e-01 -1.14521242e-01 1.72835324e+02] [ 1.34272746e-01 9.90827923e-01 -1.51939440e-02 8.83631064e+00] [ 1.15523987e-01 -4.23391845e-04 9.93304600e-01 1.49813848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:172.89, Y:8.85, Z:14.99 [[ 9.84477931e-01 -1.33002149e-01 -1.14514764e-01 1.72892296e+02] [ 1.32125887e-01 9.91115741e-01 -1.52426083e-02 8.85170675e+00] [ 1.15524685e-01 -1.24353304e-04 9.93304602e-01 1.49875965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:172.95, Y:8.86, Z:15.00 [[ 9.84586009e-01 -1.32205810e-01 -1.14507702e-01 1.72948227e+02] [ 1.31318030e-01 9.91222288e-01 -1.52954804e-02 8.86466897e+00] [ 1.15524738e-01 2.27901472e-05 9.93304603e-01 1.49950052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.01, Y:8.87, Z:15.00 [[ 9.84436806e-01 -1.33319239e-01 -1.14499587e-01 1.73005077e+02] [ 1.32431927e-01 9.91073145e-01 -1.53559917e-02 8.87468547e+00] [ 1.15524715e-01 -4.63975413e-05 9.93304605e-01 1.50011669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.06, Y:8.88, Z:15.01 [[ 9.84290531e-01 -1.34401896e-01 -1.14491399e-01 1.73062679e+02] [ 1.33514810e-01 9.90926898e-01 -1.54168035e-02 8.88445656e+00] [ 1.15524654e-01 -1.11683595e-04 9.93304607e-01 1.50065024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76863999999998 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:173.12, Y:8.89, Z:15.03 [[ 9.84256481e-01 -1.34657100e-01 -1.14484259e-01 1.73118872e+02] [ 1.33765588e-01 9.90892253e-01 -1.54696429e-02 8.89177549e+00] [ 1.15524663e-01 -8.79578942e-05 9.93304608e-01 1.50315822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.18, Y:8.90, Z:15.02 [[ 9.84064620e-01 -1.36053403e-01 -1.14482729e-01 1.73179809e+02] [ 1.35169990e-01 9.90701476e-01 -1.54809544e-02 8.89732817e+00] [ 1.15524445e-01 -2.40369892e-04 9.93304608e-01 1.50191762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.24, Y:8.90, Z:15.03 [[ 9.83892530e-01 -1.37297833e-01 -1.14476174e-01 1.73238510e+02] [ 1.36417192e-01 9.90529753e-01 -1.55292797e-02 8.90121692e+00] [ 1.15524193e-01 -3.37375871e-04 9.93304609e-01 1.50250826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:173.30, Y:8.91, Z:15.03 [[ 9.84102258e-01 -1.35792439e-01 -1.14469033e-01 1.73296763e+02] [ 1.34895542e-01 9.90737302e-01 -1.55817400e-02 8.90775019e+00] [ 1.15524623e-01 -1.07336758e-04 9.93304611e-01 1.50326226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.35, Y:8.91, Z:15.04 [[ 9.84271405e-01 -1.34567031e-01 -1.14461847e-01 1.73354977e+02] [ 1.33655756e-01 9.90904489e-01 -1.56343494e-02 8.91101425e+00] [ 1.15524626e-01 8.99583093e-05 9.93304612e-01 1.50389232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.41, Y:8.92, Z:15.05 [[ 9.84017926e-01 -1.36414318e-01 -1.14454601e-01 1.73412235e+02] [ 1.35509345e-01 9.90651871e-01 -1.56872188e-02 8.91723941e+00] [ 1.15524626e-01 -7.31634927e-05 9.93304614e-01 1.50453865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:173.47, Y:8.92, Z:15.05 [[ 9.83562738e-01 -1.39665277e-01 -1.14446283e-01 1.73470299e+02] [ 1.38775196e-01 9.90198695e-01 -1.57476742e-02 8.91983394e+00] [ 1.15523963e-01 -3.93479780e-04 9.93304615e-01 1.50528070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18864 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:173.53, Y:8.92, Z:15.08 [[ 9.83712300e-01 -1.38613915e-01 -1.14439042e-01 1.73525616e+02] [ 1.37710640e-01 9.90346473e-01 -1.58001208e-02 8.92465776e+00] [ 1.15524418e-01 -2.16700527e-04 9.93304617e-01 1.50808644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24864 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:173.59, Y:8.93, Z:15.07 [[ 9.83528585e-01 -1.39914834e-01 -1.14434971e-01 1.73587254e+02] [ 1.39016911e-01 9.90163483e-01 -1.58295488e-02 8.92672589e+00] [ 1.15524118e-01 -3.39582468e-04 9.93304617e-01 1.50651208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30864 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:173.65, Y:8.93, Z:15.07 [[ 9.83442740e-01 -1.40523057e-01 -1.14427475e-01 1.73646307e+02] [ 1.39622953e-01 9.90077342e-01 -1.58835557e-02 8.92730218e+00] [ 1.15524056e-01 -3.56134473e-04 9.93304619e-01 1.50723115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36864 meters Centerline goodness : 0.997687 with order 1 Centerline is valid? [True, True] Translation: X:173.70, Y:8.93, Z:15.10 [[ 9.83774117e-01 -1.38190161e-01 -1.14420132e-01 1.73702746e+02] [ 1.37268191e-01 9.90405714e-01 -1.59362772e-02 8.92876894e+00] [ 1.15524589e-01 -2.85475651e-05 9.93304620e-01 1.50992948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42863999999997 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:173.76, Y:8.93, Z:15.09 [[ 9.83359486e-01 -1.41116410e-01 -1.14412759e-01 1.73762698e+02] [ 1.40208036e-01 9.89992958e-01 -1.59890399e-02 8.93126055e+00] [ 1.15524141e-01 -3.18614048e-04 9.93304622e-01 1.50860080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48863999999998 meters Centerline goodness : 0.997881 with order 1 Centerline is valid? [True, True] Translation: X:173.82, Y:8.94, Z:15.11 [[ 9.83922841e-01 -1.37140671e-01 -1.14404017e-01 1.73818129e+02] [ 1.36198248e-01 9.90551559e-01 -1.60513462e-02 8.93767207e+00] [ 1.15524370e-01 2.11659552e-04 9.93304624e-01 1.51124849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54863999999998 meters Centerline goodness : 0.997446 with order 1 Centerline is valid? [True, True] Translation: X:173.88, Y:8.95, Z:15.12 [[ 9.84566822e-01 -1.32441840e-01 -1.14399880e-01 1.73875752e+02] [ 1.31464362e-01 9.91190461e-01 -1.60807757e-02 8.94526690e+00] [ 1.15521838e-01 7.93090908e-04 9.93304624e-01 1.51172580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60863999999998 meters Centerline goodness : 0.997744 with order 1 Centerline is valid? [True, True] Translation: X:173.93, Y:8.95, Z:15.12 [[ 9.84651739e-01 -1.31811424e-01 -1.14397118e-01 1.73932998e+02] [ 1.30827426e-01 9.91274413e-01 -1.61004040e-02 8.95370568e+00] [ 1.15521153e-01 8.87010328e-04 9.93304624e-01 1.51243851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66863999999998 meters Centerline goodness : 0.997494 with order 1 Centerline is valid? [True, True] Translation: X:173.99, Y:8.96, Z:15.13 [[ 9.84615235e-01 -1.32091579e-01 -1.14388172e-01 1.73990883e+02] [ 1.31102110e-01 9.91237091e-01 -1.61637127e-02 8.96224165e+00] [ 1.15520889e-01 9.18507058e-04 9.93304626e-01 1.51332354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72863999999998 meters Centerline goodness : 0.997449 with order 1 Centerline is valid? [True, True] Translation: X:174.05, Y:8.97, Z:15.14 [[ 9.84680957e-01 -1.31607404e-01 -1.14380521e-01 1.74048992e+02] [ 1.30608411e-01 9.91301382e-01 -1.62176746e-02 8.97159414e+00] [ 1.15519935e-01 1.03017719e-03 9.93304628e-01 1.51372446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78864 meters Centerline goodness : 0.997348 with order 1 Centerline is valid? [True, True] Translation: X:174.11, Y:8.98, Z:15.14 [[ 9.84485791e-01 -1.33066195e-01 -1.14372701e-01 1.74105151e+02] [ 1.32070627e-01 9.91106730e-01 -1.62726400e-02 8.98301714e+00] [ 1.15520892e-01 9.14908465e-04 9.93304629e-01 1.51435211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84864 meters Centerline goodness : 0.996907 with order 1 Centerline is valid? [True, True] Translation: X:174.16, Y:8.99, Z:15.15 [[ 9.84116350e-01 -1.35779036e-01 -1.14363731e-01 1.74162857e+02] [ 1.34794422e-01 9.90738925e-01 -1.63354406e-02 8.99320060e+00] [ 1.15522610e-01 6.60381243e-04 9.93304631e-01 1.51509837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90864 meters Centerline goodness : 0.997295 with order 1 Centerline is valid? [True, True] Translation: X:174.22, Y:9.00, Z:15.16 [[ 9.83010113e-01 -1.43575344e-01 -1.14355750e-01 1.74220443e+02] [ 1.42636776e-01 9.89639369e-01 -1.63911231e-02 9.00482972e+00] [ 1.15524313e-01 -1.98695690e-04 9.93304633e-01 1.51589204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96864 meters Centerline goodness : 0.998233 with order 1 Centerline is valid? [True, True] Translation: X:174.28, Y:9.02, Z:15.14 [[ 9.82501899e-01 -1.47018579e-01 -1.14348398e-01 1.74280754e+02] [ 1.46097292e-01 9.89133577e-01 -1.64422535e-02 9.01509381e+00] [ 1.15523157e-01 -5.51446006e-04 9.93304634e-01 1.51446741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02864 meters Centerline goodness : 0.998071 with order 1 Centerline is valid? [True, True] Translation: X:174.34, Y:9.03, Z:15.15 [[ 9.82417290e-01 -1.47588950e-01 -1.14340589e-01 1.74337379e+02] [ 1.46665214e-01 9.89048626e-01 -1.64963808e-02 9.02661034e+00] [ 1.15523086e-01 -5.63457270e-04 9.93304636e-01 1.51522499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08864 meters Centerline goodness : 0.998281 with order 1 Centerline is valid? [True, True] Translation: X:174.39, Y:9.04, Z:15.16 [[ 9.82777334e-01 -1.45178983e-01 -1.14331865e-01 1.74394722e+02] [ 1.44231977e-01 9.89405385e-01 -1.65566248e-02 9.03827564e+00] [ 1.15524237e-01 -2.18835343e-04 9.93304637e-01 1.51595604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14863999999997 meters Centerline goodness : 0.997301 with order 1 Centerline is valid? [True, True] Translation: X:174.45, Y:9.05, Z:15.19 [[ 9.83073346e-01 -1.43166958e-01 -1.14324180e-01 1.74450334e+02] [ 1.42200234e-01 9.89698549e-01 -1.66095227e-02 9.04865617e+00] [ 1.15524410e-01 7.14538405e-05 9.93304639e-01 1.51856033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20863999999997 meters Centerline goodness : 0.997203 with order 1 Centerline is valid? [True, True] Translation: X:174.51, Y:9.06, Z:15.19 [[ 9.82680091e-01 -1.45847868e-01 -1.14316399e-01 1.74507872e+02] [ 1.44893008e-01 9.89307012e-01 -1.66629082e-02 9.05869163e+00] [ 1.15524264e-01 -1.89338704e-04 9.93304640e-01 1.51948627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26863999999998 meters Centerline goodness : 0.997790 with order 1 Centerline is valid? [True, True] Translation: X:174.57, Y:9.07, Z:15.20 [[ 9.82727852e-01 -1.45531925e-01 -1.14308479e-01 1.74565943e+02] [ 1.44568635e-01 9.89353551e-01 -1.67170662e-02 9.06864925e+00] [ 1.15524366e-01 -9.70941536e-05 9.93304642e-01 1.51986417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32863999999998 meters Centerline goodness : 0.997781 with order 1 Centerline is valid? [True, True] Translation: X:174.62, Y:9.08, Z:15.20 [[ 9.82583629e-01 -1.46508579e-01 -1.14300693e-01 1.74623213e+02] [ 1.45545702e-01 9.89209387e-01 -1.67701303e-02 9.08012740e+00] [ 1.15524287e-01 -1.57919154e-04 9.93304643e-01 1.52025949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38863999999998 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:174.68, Y:9.09, Z:15.19 [[ 9.83019438e-01 -1.43561547e-01 -1.14292903e-01 1.74682337e+02] [ 1.42572652e-01 9.89641361e-01 -1.68230576e-02 9.08962511e+00] [ 1.15524128e-01 2.42350300e-04 9.93304645e-01 1.51940813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44863999999998 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:174.74, Y:9.10, Z:15.20 [[ 9.82682378e-01 -1.45852646e-01 -1.14290639e-01 1.74740011e+02] [ 1.44877404e-01 9.89306325e-01 -1.68384232e-02 9.09815995e+00] [ 1.15524381e-01 -1.13092698e-05 9.93304645e-01 1.52023621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:174.80, Y:9.10, Z:15.21 [[ 9.81924948e-01 -1.50873556e-01 -1.14282840e-01 1.74798011e+02] [ 1.49926041e-01 9.88552917e-01 -1.68911915e-02 9.10301072e+00] [ 1.15523069e-01 -5.48091493e-04 9.93304646e-01 1.52085313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:174.86, Y:9.11, Z:15.22 [[ 9.81354415e-01 -1.54547262e-01 -1.14274473e-01 1.74856173e+02] [ 1.53617989e-01 9.87984965e-01 -1.69476105e-02 9.10851921e+00] [ 1.15520668e-01 -9.23002374e-04 9.93304648e-01 1.52162810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62864 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:174.91, Y:9.11, Z:15.24 [[ 9.80628558e-01 -1.59093538e-01 -1.14266698e-01 1.74913338e+02] [ 1.58188915e-01 9.87262514e-01 -1.69998697e-02 9.10922810e+00] [ 1.15515797e-01 -1.40516726e-03 9.93304649e-01 1.52427529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:174.97, Y:9.11, Z:15.23 [[ 9.80721383e-01 -1.58521112e-01 -1.14265592e-01 1.74974151e+02] [ 1.57611751e-01 9.87354692e-01 -1.70072989e-02 9.11380732e+00] [ 1.15516685e-01 -1.33017834e-03 9.93304649e-01 1.52298781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:175.03, Y:9.12, Z:15.25 [[ 9.80631824e-01 -1.59079946e-01 -1.14257585e-01 1.75030849e+02] [ 1.58168117e-01 9.87264793e-01 -1.70609286e-02 9.11805327e+00] [ 1.15516542e-01 -1.34141756e-03 9.93304651e-01 1.52545624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.09, Y:9.12, Z:15.24 [[ 9.81066713e-01 -1.56381268e-01 -1.14249742e-01 1.75090459e+02] [ 1.55445096e-01 9.87696288e-01 -1.71132884e-02 9.12206524e+00] [ 1.15520244e-01 -9.70284542e-04 9.93304652e-01 1.52434848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:175.15, Y:9.13, Z:15.27 [[ 9.80921911e-01 -1.57293564e-01 -1.14240712e-01 1.75146328e+02] [ 1.56356561e-01 9.87551366e-01 -1.71733617e-02 9.12589677e+00] [ 1.15519830e-01 -1.01655802e-03 9.93304654e-01 1.52688753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.21, Y:9.13, Z:15.26 [[ 9.80938366e-01 -1.57197478e-01 -1.14231672e-01 1.75206038e+02] [ 1.56252849e-01 9.87566738e-01 -1.72332809e-02 9.13427109e+00] [ 1.15520428e-01 -9.44237863e-04 9.93304656e-01 1.52555967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.26, Y:9.14, Z:15.26 [[ 9.81025638e-01 -1.56657760e-01 -1.14223657e-01 1.75264124e+02] [ 1.55703318e-01 9.87652602e-01 -1.72862431e-02 9.14086362e+00] [ 1.15521316e-01 -8.26754760e-04 9.93304657e-01 1.52633153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.32, Y:9.15, Z:15.29 [[ 9.81590255e-01 -1.53086104e-01 -1.14215658e-01 1.75320258e+02] [ 1.52101417e-01 9.88212791e-01 -1.73389367e-02 9.15140034e+00] [ 1.15523725e-01 -3.52632093e-04 9.93304659e-01 1.52855694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.38, Y:9.16, Z:15.27 [[ 9.81845573e-01 -1.51441225e-01 -1.14213948e-01 1.75380161e+02] [ 1.50444133e-01 9.88466253e-01 -1.73501935e-02 9.16428063e+00] [ 1.15524168e-01 -1.47607680e-04 9.93304659e-01 1.52743969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:175.44, Y:9.18, Z:15.30 [[ 9.82386302e-01 -1.47893858e-01 -1.14212788e-01 1.75436577e+02] [ 1.46871972e-01 9.89003200e-01 -1.73578241e-02 9.17812121e+00] [ 1.15523929e-01 2.77431146e-04 9.93304659e-01 1.52958664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.50, Y:9.20, Z:15.29 [[ 9.82505904e-01 -1.47097730e-01 -1.14212110e-01 1.75495699e+02] [ 1.46069964e-01 9.89121892e-01 -1.73622863e-02 9.19606765e+00] [ 1.15523651e-01 3.75589991e-04 9.93304659e-01 1.52877796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.55, Y:9.21, Z:15.29 [[ 9.82407530e-01 -1.47754191e-01 -1.14210959e-01 1.75553093e+02] [ 1.46729966e-01 9.89024067e-01 -1.73698533e-02 9.20946845e+00] [ 1.15523856e-01 3.06104546e-04 9.93304659e-01 1.52943554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:175.61, Y:9.22, Z:15.32 [[ 9.81636524e-01 -1.52798695e-01 -1.14202864e-01 1.75607895e+02] [ 1.51802297e-01 9.88257307e-01 -1.74229172e-02 9.22430881e+00] [ 1.15524014e-01 -2.33285242e-04 9.93304660e-01 1.53211274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.67, Y:9.24, Z:15.31 [[ 9.80505276e-01 -1.59903026e-01 -1.14194682e-01 1.75667936e+02] [ 1.58948372e-01 9.87132206e-01 -1.74763812e-02 9.23681220e+00] [ 1.15519774e-01 -1.01537475e-03 9.93304662e-01 1.53063832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.73, Y:9.24, Z:15.31 [[ 9.79185344e-01 -1.67801553e-01 -1.14187132e-01 1.75725258e+02] [ 1.66894613e-01 9.85818970e-01 -1.75255730e-02 9.24403955e+00] [ 1.15508659e-01 -1.89643300e-03 9.93304663e-01 1.53147153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.78, Y:9.25, Z:15.32 [[ 9.78646891e-01 -1.70919906e-01 -1.14178145e-01 1.75783466e+02] [ 1.70027296e-01 9.85282459e-01 -1.75839325e-02 9.24973934e+00] [ 1.15503167e-01 -2.20494033e-03 9.93304665e-01 1.53213957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.84, Y:9.26, Z:15.33 [[ 9.78537797e-01 -1.71548578e-01 -1.14170338e-01 1.75841280e+02] [ 1.70654336e-01 9.85173144e-01 -1.76344773e-02 9.25714748e+00] [ 1.15502720e-01 -2.22766055e-03 9.93304666e-01 1.53281985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.90, Y:9.26, Z:15.34 [[ 9.78698277e-01 -1.70635851e-01 -1.14162558e-01 1.75899525e+02] [ 1.69729564e-01 9.85331988e-01 -1.76846970e-02 9.26187630e+00] [ 1.15505664e-01 -2.06877883e-03 9.93304667e-01 1.53355688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:175.96, Y:9.26, Z:15.34 [[ 9.78589698e-01 -1.71262679e-01 -1.14154710e-01 1.75958949e+02] [ 1.70354750e-01 9.85223183e-01 -1.77352149e-02 9.26387531e+00] [ 1.15505247e-01 -2.09129859e-03 9.93304668e-01 1.53404742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.02, Y:9.27, Z:15.35 [[ 9.78557256e-01 -1.71453205e-01 -1.14146811e-01 1.76017181e+02] [ 1.70540656e-01 9.85190107e-01 -1.77859111e-02 9.27145112e+00] [ 1.15505760e-01 -2.06213963e-03 9.93304670e-01 1.53481085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.07, Y:9.28, Z:15.36 [[ 9.78895467e-01 -1.69516879e-01 -1.14138918e-01 1.76074412e+02] [ 1.68585320e-01 9.85525673e-01 -1.78364220e-02 9.27919201e+00] [ 1.15510408e-01 -1.78215340e-03 9.93304671e-01 1.53562693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.13, Y:9.29, Z:15.36 [[ 9.79174613e-01 -1.67903180e-01 -1.14129749e-01 1.76131157e+02] [ 1.66953880e-01 9.85802300e-01 -1.78948986e-02 9.28698858e+00] [ 1.15513980e-01 -1.53217406e-03 9.93304673e-01 1.53620530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.19, Y:9.29, Z:15.37 [[ 9.78859799e-01 -1.69735136e-01 -1.14120452e-01 1.76190088e+02] [ 1.68791350e-01 9.85488272e-01 -1.79539974e-02 9.29238422e+00] [ 1.15511791e-01 -1.68809890e-03 9.93304675e-01 1.53666175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.25, Y:9.30, Z:15.37 [[ 9.78146085e-01 -1.73806234e-01 -1.14112351e-01 1.76248296e+02] [ 1.72884047e-01 9.84777596e-01 -1.80053382e-02 9.29803495e+00] [ 1.15504727e-01 -2.11635403e-03 9.93304676e-01 1.53739805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.31, Y:9.30, Z:15.38 [[ 9.77516112e-01 -1.77320205e-01 -1.14104316e-01 1.76306179e+02] [ 1.76415931e-01 9.84150088e-01 -1.80561176e-02 9.30004526e+00] [ 1.15497487e-01 -2.47967313e-03 9.93304677e-01 1.53794397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.36, Y:9.30, Z:15.39 [[ 9.76949478e-01 -1.80421858e-01 -1.14095008e-01 1.76364594e+02] [ 1.79531801e-01 9.83585374e-01 -1.81147449e-02 9.30258589e+00] [ 1.15490477e-01 -2.78649159e-03 9.93304679e-01 1.53852103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.42, Y:9.31, Z:15.39 [[ 9.76870378e-01 -1.80854639e-01 -1.14087087e-01 1.76423074e+02] [ 1.79961714e-01 9.83505888e-01 -1.81644970e-02 9.30646693e+00] [ 1.15490455e-01 -2.78694856e-03 9.93304680e-01 1.53930117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.48, Y:9.31, Z:15.40 [[ 9.77096686e-01 -1.79633056e-01 -1.14079055e-01 1.76480714e+02] [ 1.78725965e-01 9.83730273e-01 -1.82147999e-02 9.30818668e+00] [ 1.15495000e-01 -2.59126848e-03 9.93304681e-01 1.54005090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.54, Y:9.31, Z:15.41 [[ 9.77725373e-01 -1.76185067e-01 -1.14069793e-01 1.76538156e+02] [ 1.75247837e-01 9.84354767e-01 -1.82726203e-02 9.30981212e+00] [ 1.15504507e-01 -2.12488001e-03 9.93304683e-01 1.54085784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:176.59, Y:9.31, Z:15.43 [[ 9.78402317e-01 -1.72392316e-01 -1.14060488e-01 1.76594094e+02] [ 1.71422636e-01 9.85027041e-01 -1.83305242e-02 9.31435906e+00] [ 1.15512706e-01 -1.61792203e-03 9.93304685e-01 1.54319218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.65, Y:9.32, Z:15.42 [[ 9.79373224e-01 -1.66790187e-01 -1.14057539e-01 1.76654644e+02] [ 1.65780476e-01 9.85991964e-01 -1.83488532e-02 9.31932335e+00] [ 1.15520225e-01 -9.38137518e-04 9.93304685e-01 1.54225508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48863999999998 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:176.71, Y:9.33, Z:15.45 [[ 9.79382581e-01 -1.66741077e-01 -1.14048996e-01 1.76710062e+02] [ 1.65724868e-01 9.86000325e-01 -1.84018004e-02 9.32594957e+00] [ 1.15520683e-01 -8.78352056e-04 9.93304687e-01 1.54515652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54863999999998 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:176.77, Y:9.34, Z:15.45 [[ 9.79838944e-01 -1.64043948e-01 -1.14040464e-01 1.76769098e+02] [ 1.63003387e-01 9.86452901e-01 -1.84545233e-02 9.33602787e+00] [ 1.15522900e-01 -5.06521297e-04 9.93304688e-01 1.54548555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:176.83, Y:9.34, Z:15.46 [[ 9.79692061e-01 -1.64919739e-01 -1.14039228e-01 1.76826631e+02] [ 1.63884201e-01 9.86306807e-01 -1.84621617e-02 9.34320990e+00] [ 1.15522441e-01 -6.01994522e-04 9.93304688e-01 1.54627212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:176.89, Y:9.35, Z:15.45 [[ 9.79974208e-01 -1.63240944e-01 -1.14030463e-01 1.76886463e+02] [ 1.62187793e-01 9.86586171e-01 -1.85161421e-02 9.35494141e+00] [ 1.15523470e-01 -3.49007358e-04 9.93304689e-01 1.54505840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72863999999998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:176.94, Y:9.37, Z:15.47 [[ 9.80572859e-01 -1.59611804e-01 -1.14021665e-01 1.76941518e+02] [ 1.58527899e-01 9.87179849e-01 -1.85701642e-02 9.36564959e+00] [ 1.15523907e-01 1.33784076e-04 9.93304691e-01 1.54746846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.00, Y:9.38, Z:15.46 [[ 9.80531362e-01 -1.59872752e-01 -1.14012945e-01 1.77001440e+02] [ 1.58784399e-01 9.87137619e-01 -1.86235432e-02 9.37608062e+00] [ 1.15523865e-01 1.57491111e-04 9.93304692e-01 1.54636680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.06, Y:9.39, Z:15.47 [[ 9.80144666e-01 -1.62232964e-01 -1.14003942e-01 1.77057804e+02] [ 1.61154126e-01 9.86752482e-01 -1.86784981e-02 9.38553865e+00] [ 1.15523941e-01 -6.45753049e-05 9.93304694e-01 1.54709269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.11, Y:9.40, Z:15.48 [[ 9.79761187e-01 -1.64540004e-01 -1.13993876e-01 1.77114934e+02] [ 1.63469601e-01 9.86370373e-01 -1.87397324e-02 9.39636912e+00] [ 1.15523617e-01 -2.74070894e-04 9.93304696e-01 1.54772428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.17, Y:9.41, Z:15.48 [[ 9.79938351e-01 -1.63487779e-01 -1.13984971e-01 1.77171355e+02] [ 1.62403998e-01 9.86545355e-01 -1.87937371e-02 9.40944672e+00] [ 1.15523890e-01 -9.49112544e-05 9.93304697e-01 1.54830137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02864 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:177.23, Y:9.42, Z:15.51 [[ 9.80164471e-01 -1.62133754e-01 -1.13974803e-01 1.77225094e+02] [ 1.61033697e-01 9.86768782e-01 -1.88552036e-02 9.42331695e+00] [ 1.15523843e-01 1.27416731e-04 9.93304699e-01 1.55129583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.28, Y:9.43, Z:15.50 [[ 9.79502489e-01 -1.66092232e-01 -1.13965984e-01 1.77284885e+02] [ 1.65012680e-01 9.86110181e-01 -1.89083577e-02 9.43492662e+00] [ 1.15523549e-01 -2.85049100e-04 9.93304701e-01 1.54965767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14863999999997 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:177.34, Y:9.44, Z:15.52 [[ 9.78677296e-01 -1.70893435e-01 -1.13956938e-01 1.77340583e+02] [ 1.69839968e-01 9.85289196e-01 -1.89627218e-02 9.44343538e+00] [ 1.15521145e-01 -7.96057441e-04 9.93304702e-01 1.55233501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.40, Y:9.45, Z:15.51 [[ 9.77791402e-01 -1.75897175e-01 -1.13948051e-01 1.77399806e+02] [ 1.74871337e-01 9.84407643e-01 -1.90159800e-02 9.45231411e+00] [ 1.15516189e-01 -1.33258620e-03 9.93304704e-01 1.55093019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.46, Y:9.46, Z:15.52 [[ 9.77455858e-01 -1.77758823e-01 -1.13937907e-01 1.77456988e+02] [ 1.76738524e-01 9.84072954e-01 -1.90765667e-02 9.46065870e+00] [ 1.15514240e-01 -1.49071555e-03 9.93304706e-01 1.55173186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.52, Y:9.47, Z:15.52 [[ 9.77096454e-01 -1.79725845e-01 -1.13934808e-01 1.77515199e+02] [ 1.78716712e-01 9.83715262e-01 -1.90950564e-02 9.46744639e+00] [ 1.15511285e-01 -1.70434235e-03 9.93304706e-01 1.55242942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:177.57, Y:9.47, Z:15.55 [[ 9.76306238e-01 -1.83975454e-01 -1.13926123e-01 1.77570673e+02] [ 1.82989100e-01 9.82928478e-01 -1.91467332e-02 9.47443541e+00] [ 1.15503760e-01 -2.15416370e-03 9.93304707e-01 1.55513751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:177.63, Y:9.48, Z:15.54 [[ 9.76703248e-01 -1.81861425e-01 -1.13917461e-01 1.77630780e+02] [ 1.80854743e-01 9.83322426e-01 -1.91981324e-02 9.48138388e+00] [ 1.15508994e-01 -1.85163489e-03 9.93304708e-01 1.55368802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50863999999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:177.69, Y:9.49, Z:15.56 [[ 9.76596800e-01 -1.82437629e-01 -1.13908748e-01 1.77686397e+02] [ 1.81428840e-01 9.83215656e-01 -1.92496955e-02 9.48733916e+00] [ 1.15508733e-01 -1.86714089e-03 9.93304710e-01 1.55617169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:177.74, Y:9.50, Z:15.57 [[ 9.77450238e-01 -1.77814044e-01 -1.13899949e-01 1.77744308e+02] [ 1.76767894e-01 9.84063290e-01 -1.93016157e-02 9.49694291e+00] [ 1.15516857e-01 -1.26748533e-03 9.93304711e-01 1.55691730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:177.80, Y:9.51, Z:15.56 [[ 9.77960330e-01 -1.74992667e-01 -1.13890998e-01 1.77804102e+02] [ 1.73921303e-01 9.84569343e-01 -1.93542913e-02 9.50676282e+00] [ 1.15520444e-01 -8.80341675e-04 9.93304713e-01 1.55581833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68864 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:177.86, Y:9.52, Z:15.58 [[ 9.77222443e-01 -1.79073048e-01 -1.13882134e-01 1.77859531e+02] [ 1.78023218e-01 9.83834909e-01 -1.94063107e-02 9.51816343e+00] [ 1.15516366e-01 -1.30938152e-03 9.93304714e-01 1.55817292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74864 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:177.92, Y:9.53, Z:15.59 [[ 9.76747556e-01 -1.81651131e-01 -1.13873077e-01 1.77916858e+02] [ 1.80612576e-01 9.83361802e-01 -1.94593096e-02 9.52710514e+00] [ 1.15513240e-01 -1.56007659e-03 9.93304715e-01 1.55881513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:177.98, Y:9.54, Z:15.58 [[ 9.76132423e-01 -1.84933635e-01 -1.13864146e-01 1.77977184e+02] [ 1.83911243e-01 9.82749184e-01 -1.95114286e-02 9.53685446e+00] [ 1.15508216e-01 -1.89515863e-03 9.93304717e-01 1.55763615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.03, Y:9.54, Z:15.58 [[ 9.75968898e-01 -1.85797506e-01 -1.13859551e-01 1.78034251e+02] [ 1.84777847e-01 9.82586081e-01 -1.95382073e-02 9.54428246e+00] [ 1.15506960e-01 -1.97004011e-03 9.93304717e-01 1.55824849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.09, Y:9.55, Z:15.59 [[ 9.76034551e-01 -1.85458516e-01 -1.13849432e-01 1.78090720e+02] [ 1.84429703e-01 9.82650315e-01 -1.95969949e-02 9.55243282e+00] [ 1.15508610e-01 -1.86987286e-03 9.93304719e-01 1.55899488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.15, Y:9.56, Z:15.60 [[ 9.76322334e-01 -1.83943758e-01 -1.13839332e-01 1.78148857e+02] [ 1.82897861e-01 9.82935417e-01 -1.96554908e-02 9.56182584e+00] [ 1.15512217e-01 -1.63087566e-03 9.93304721e-01 1.55959485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:178.21, Y:9.57, Z:15.60 [[ 9.76003880e-01 -1.85631580e-01 -1.13830327e-01 1.78206646e+02] [ 1.84591054e-01 9.82617808e-01 -1.97075079e-02 9.56941601e+00] [ 1.15510042e-01 -1.77745584e-03 9.93304722e-01 1.56021856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:178.26, Y:9.58, Z:15.61 [[ 9.75357285e-01 -1.89004944e-01 -1.13821342e-01 1.78264021e+02] [ 1.87981253e-01 9.81973839e-01 -1.97592644e-02 9.57760716e+00] [ 1.15504179e-01 -2.12393601e-03 9.93304723e-01 1.56098990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.32, Y:9.58, Z:15.62 [[ 9.74989098e-01 -1.90900513e-01 -1.13812356e-01 1.78322776e+02] [ 1.89883661e-01 9.81606705e-01 -1.98108896e-02 9.58142908e+00] [ 1.15500881e-01 -2.29570545e-03 9.93304725e-01 1.56157988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.38, Y:9.59, Z:15.62 [[ 9.75225198e-01 -1.89696081e-01 -1.13803384e-01 1.78380102e+02] [ 1.88665058e-01 9.81840611e-01 -1.98622997e-02 9.58853776e+00] [ 1.15504584e-01 -2.10050682e-03 9.93304726e-01 1.56228475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.44, Y:9.59, Z:15.63 [[ 9.76305602e-01 -1.84061156e-01 -1.13793072e-01 1.78438227e+02] [ 1.82985083e-01 9.82913834e-01 -1.99212025e-02 9.59228549e+00] [ 1.15515504e-01 -1.37325319e-03 9.93304728e-01 1.56288498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.50, Y:9.60, Z:15.63 [[ 9.76818115e-01 -1.81328172e-01 -1.13782534e-01 1.78496531e+02] [ 1.80226620e-01 9.83422146e-01 -1.99812119e-02 9.60030589e+00] [ 1.15519420e-01 -9.88631813e-04 9.93304730e-01 1.56345255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.55, Y:9.61, Z:15.66 [[ 9.77677221e-01 -1.76643388e-01 -1.13773303e-01 1.78552046e+02] [ 1.75504089e-01 9.84274844e-01 -2.00336354e-02 9.60715489e+00] [ 1.15523009e-01 -3.81250981e-04 9.93304731e-01 1.56603273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.61, Y:9.61, Z:15.67 [[ 9.78405127e-01 -1.72572230e-01 -1.13763935e-01 1.78608800e+02] [ 1.71399309e-01 9.84996854e-01 -2.00866952e-02 9.61492440e+00] [ 1.15523524e-01 1.53865833e-04 9.93304733e-01 1.56661625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:178.67, Y:9.62, Z:15.67 [[ 9.78964250e-01 -1.69379135e-01 -1.13752823e-01 1.78666653e+02] [ 1.68177424e-01 9.85550787e-01 -2.01494275e-02 9.62383492e+00] [ 1.15522077e-01 5.94912406e-04 9.93304735e-01 1.56735588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.73, Y:9.63, Z:15.66 [[ 9.78736713e-01 -1.70695553e-01 -1.13743024e-01 1.78725303e+02] [ 1.69496289e-01 9.85323694e-01 -2.02045926e-02 9.63282713e+00] [ 1.15522531e-01 4.95956063e-04 9.93304736e-01 1.56636413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.78, Y:9.64, Z:15.67 [[ 9.78674411e-01 -1.71059872e-01 -1.13731783e-01 1.78782218e+02] [ 1.69855730e-01 9.85260500e-01 -2.02676734e-02 9.64267464e+00] [ 1.15522419e-01 5.17458380e-04 9.93304738e-01 1.56706760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.84, Y:9.65, Z:15.68 [[ 9.78772052e-01 -1.70507704e-01 -1.13720683e-01 1.78839080e+02] [ 1.69292631e-01 9.85356131e-01 -2.03297680e-02 9.65376711e+00] [ 1.15521754e-01 6.46135138e-04 9.93304740e-01 1.56779974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.90, Y:9.67, Z:15.69 [[ 9.78996801e-01 -1.69219064e-01 -1.13710916e-01 1.78896003e+02] [ 1.67988998e-01 9.85578094e-01 -2.03842500e-02 9.66588367e+00] [ 1.15520392e-01 8.53932666e-04 9.93304742e-01 1.56850434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:178.95, Y:9.68, Z:15.69 [[ 9.79222642e-01 -1.67913858e-01 -1.13701162e-01 1.78951409e+02] [ 1.66668718e-01 9.85801098e-01 -2.04385152e-02 9.68240938e+00] [ 1.15518640e-01 1.06343000e-03 9.93304743e-01 1.56927771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.01, Y:9.69, Z:15.70 [[ 9.78956904e-01 -1.69463772e-01 -1.13689973e-01 1.79008728e+02] [ 1.68221842e-01 9.85535965e-01 -2.05005637e-02 9.69443248e+00] [ 1.15519661e-01 9.44031545e-04 9.93304745e-01 1.56993874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.07, Y:9.71, Z:15.70 [[ 9.78177110e-01 -1.73914756e-01 -1.13680252e-01 1.79066248e+02] [ 1.72696514e-01 9.84760597e-01 -2.05543327e-02 9.70760702e+00] [ 1.15522534e-01 4.73594536e-04 9.93304747e-01 1.57045584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.12, Y:9.72, Z:15.71 [[ 9.77295993e-01 -1.78805955e-01 -1.13670454e-01 1.79123971e+02] [ 1.77614377e-01 9.83884357e-01 -2.06083742e-02 9.71636087e+00] [ 1.15523482e-01 -4.90253720e-05 9.93304748e-01 1.57100005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.18, Y:9.73, Z:15.74 [[ 9.76690887e-01 -1.82088367e-01 -1.13660627e-01 1.79179423e+02] [ 1.80912640e-01 9.83282096e-01 -2.06624341e-02 9.72591025e+00] [ 1.15522848e-01 -3.81832963e-04 9.93304750e-01 1.57353002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.24, Y:9.73, Z:15.73 [[ 9.76392890e-01 -1.83685620e-01 -1.13650854e-01 1.79238550e+02] [ 1.82514433e-01 9.82984907e-01 -2.07160517e-02 9.73283635e+00] [ 1.15522315e-01 -5.15915512e-04 9.93304751e-01 1.57253194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.30, Y:9.74, Z:15.73 [[ 9.76731523e-01 -1.81883372e-01 -1.13639654e-01 1.79295413e+02] [ 1.80692895e-01 9.83320081e-01 -2.07773089e-02 9.74265843e+00] [ 1.15523201e-01 -2.40025504e-04 9.93304753e-01 1.57321449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24864 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:179.35, Y:9.75, Z:15.76 [[ 9.77022304e-01 -1.80321895e-01 -1.13628484e-01 1.79350606e+02] [ 1.79113803e-01 9.83607653e-01 -2.08382200e-02 9.75185213e+00] [ 1.15523434e-01 6.97588950e-06 9.93304755e-01 1.57587898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:179.41, Y:9.76, Z:15.75 [[ 9.77836791e-01 -1.75857957e-01 -1.13618615e-01 1.79409392e+02] [ 1.74613566e-01 9.84415375e-01 -2.08918906e-02 9.76106871e+00] [ 1.15521917e-01 5.89507622e-04 9.93304756e-01 1.57462117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:179.47, Y:9.77, Z:15.75 [[ 9.78914527e-01 -1.69763742e-01 -1.13607310e-01 1.79465826e+02] [ 1.68471285e-01 9.85483836e-01 -2.09531875e-02 9.77373800e+00] [ 1.15515259e-01 1.37181014e-03 9.93304758e-01 1.57532205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:179.52, Y:9.78, Z:15.76 [[ 9.79032748e-01 -1.69088200e-01 -1.13596030e-01 1.79522295e+02] [ 1.67784136e-01 9.85599761e-01 -2.10141663e-02 9.78404119e+00] [ 1.15513467e-01 1.51394529e-03 9.93304760e-01 1.57600088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48863999999998 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:179.58, Y:9.80, Z:15.77 [[ 9.79196659e-01 -1.68144082e-01 -1.13584640e-01 1.79577436e+02] [ 1.66826567e-01 9.85760984e-01 -2.10755507e-02 9.79919660e+00] [ 1.15511036e-01 1.68817330e-03 9.93304762e-01 1.57675588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54863999999998 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:179.63, Y:9.81, Z:15.77 [[ 9.79040558e-01 -1.69058318e-01 -1.13573193e-01 1.79633668e+02] [ 1.67739798e-01 9.85604680e-01 -2.11370578e-02 9.81317503e+00] [ 1.15511666e-01 1.64329228e-03 9.93304764e-01 1.57742947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60863999999998 meters Centerline goodness : 0.995180 with order 1 Centerline is valid? [True, True] Translation: X:179.69, Y:9.83, Z:15.80 [[ 9.78761272e-01 -1.70675447e-01 -1.13561722e-01 1.79687127e+02] [ 1.69360644e-01 9.85326137e-01 -2.11985102e-02 9.82886296e+00] [ 1.15513398e-01 1.51539433e-03 9.93304766e-01 1.58000949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66863999999998 meters Centerline goodness : 0.997936 with order 1 Centerline is valid? [True, True] Translation: X:179.74, Y:9.85, Z:15.79 [[ 9.78661837e-01 -1.71252342e-01 -1.13550185e-01 1.79744858e+02] [ 1.69934260e-01 9.85226042e-01 -2.12601341e-02 9.84770407e+00] [ 1.15513447e-01 1.51041531e-03 9.93304768e-01 1.57869762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72863999999998 meters Centerline goodness : 0.993572 with order 1 Centerline is valid? [True, True] Translation: X:179.80, Y:9.87, Z:15.81 [[ 9.78045870e-01 -1.74743400e-01 -1.13538632e-01 1.79798461e+02] [ 1.73441609e-01 9.84613323e-01 -2.13216513e-02 9.86538558e+00] [ 1.15517468e-01 1.16122997e-03 9.93304770e-01 1.58145739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78864 meters Centerline goodness : 0.997396 with order 1 Centerline is valid? [True, True] Translation: X:179.86, Y:9.88, Z:15.80 [[ 9.77721806e-01 -1.76554103e-01 -1.13528492e-01 1.79857550e+02] [ 1.75258221e-01 9.84290426e-01 -2.13755095e-02 9.88143792e+00] [ 1.15518942e-01 1.00250024e-03 9.93304772e-01 1.57993880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84864 meters Centerline goodness : 0.993867 with order 1 Centerline is valid? [True, True] Translation: X:179.91, Y:9.90, Z:15.82 [[ 9.76727411e-01 -1.81981130e-01 -1.13518430e-01 1.79912351e+02] [ 1.80715551e-01 9.83301935e-01 -2.14288146e-02 9.89607512e+00] [ 1.15522532e-01 4.15565032e-04 9.93304773e-01 1.58244923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90864 meters Centerline goodness : 0.992738 with order 1 Centerline is valid? [True, True] Translation: X:179.97, Y:9.91, Z:15.83 [[ 9.75117028e-01 -1.90423229e-01 -1.13515527e-01 1.79969154e+02] [ 1.89212779e-01 9.81701926e-01 -2.14441814e-02 9.90756968e+00] [ 1.15521882e-01 -5.68001931e-04 9.93304773e-01 1.58345020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96864 meters Centerline goodness : 0.997298 with order 1 Centerline is valid? [True, True] Translation: X:180.03, Y:9.92, Z:15.82 [[ 9.73244228e-01 -1.99780398e-01 -1.13505350e-01 1.80029367e+02] [ 1.98626986e-01 9.79839354e-01 -2.14979132e-02 9.91732116e+00] [ 1.15511871e-01 -1.62250565e-03 9.93304775e-01 1.58191749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02864 meters Centerline goodness : 0.996320 with order 1 Centerline is valid? [True, True] Translation: X:180.09, Y:9.92, Z:15.83 [[ 9.72291833e-01 -2.04370692e-01 -1.13495429e-01 1.80087288e+02] [ 2.03242317e-01 9.78891287e-01 -2.15501655e-02 9.92339823e+00] [ 1.15503909e-01 -2.11402400e-03 9.93304776e-01 1.58281218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08864 meters Centerline goodness : 0.992708 with order 1 Centerline is valid? [True, True] Translation: X:180.14, Y:9.93, Z:15.86 [[ 9.71869695e-01 -2.06374142e-01 -1.13485726e-01 1.80143426e+02] [ 2.05253420e-01 9.78470451e-01 -2.16011412e-02 9.93030595e+00] [ 1.15500347e-01 -2.29983899e-03 9.93304777e-01 1.58551298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14863999999997 meters Centerline goodness : 0.996077 with order 1 Centerline is valid? [True, True] Translation: X:180.20, Y:9.94, Z:15.84 [[ 9.71724772e-01 -2.07056981e-01 -1.13482926e-01 1.80203869e+02] [ 2.05939181e-01 9.78326024e-01 -2.16158403e-02 9.93559054e+00] [ 1.15499011e-01 -2.36593348e-03 9.93304777e-01 1.58436834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20863999999997 meters Centerline goodness : 0.991353 with order 1 Centerline is valid? [True, True] Translation: X:180.26, Y:9.95, Z:15.87 [[ 9.72237297e-01 -2.04642355e-01 -1.13473098e-01 1.80258376e+02] [ 2.03502155e-01 9.78834716e-01 -2.16673116e-02 9.94537701e+00] [ 1.15505458e-01 -2.02625150e-03 9.93304779e-01 1.58699689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26863999999998 meters Centerline goodness : 0.995287 with order 1 Centerline is valid? [True, True] Translation: X:180.32, Y:9.96, Z:15.86 [[ 9.74310258e-01 -1.94540276e-01 -1.13461898e-01 1.80317660e+02] [ 1.93324849e-01 9.80894231e-01 -2.17258083e-02 9.95853333e+00] [ 1.15520665e-01 -7.67326303e-04 9.93304781e-01 1.58580397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32863999999998 meters Centerline goodness : 0.990083 with order 1 Centerline is valid? [True, True] Translation: X:180.37, Y:9.97, Z:15.88 [[ 9.74685629e-01 -1.92656740e-01 -1.13451774e-01 1.80373396e+02] [ 1.91422450e-01 9.81266091e-01 -2.17785451e-02 9.96900457e+00] [ 1.15522162e-01 -4.89981617e-04 9.93304782e-01 1.58834423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38863999999998 meters Centerline goodness : 0.995189 with order 1 Centerline is valid? [True, True] Translation: X:180.43, Y:9.98, Z:15.87 [[ 9.74905890e-01 -1.91544610e-01 -1.13442355e-01 1.80432699e+02] [ 1.90297117e-01 9.81483860e-01 -2.18275011e-02 9.98174014e+00] [ 1.15522780e-01 -3.07993655e-04 9.93304783e-01 1.58730761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44863999999998 meters Centerline goodness : 0.995969 with order 1 Centerline is valid? [True, True] Translation: X:180.49, Y:9.99, Z:15.88 [[ 9.74771753e-01 -1.92232086e-01 -1.13432158e-01 1.80488881e+02] [ 1.90983080e-01 9.81349435e-01 -2.18803621e-02 9.99149120e+00] [ 1.15522692e-01 -3.35264132e-04 9.93304785e-01 1.58814998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50863999999999 meters Centerline goodness : 0.995332 with order 1 Centerline is valid? [True, True] Translation: X:180.55, Y:10.00, Z:15.89 [[ 9.74780550e-01 -1.92194360e-01 -1.13420486e-01 1.80546290e+02] [ 1.90938078e-01 9.81356844e-01 -2.19407015e-02 1.00033738e+01] [ 1.15522849e-01 -2.68920572e-04 9.93304787e-01 1.58895260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56864 meters Centerline goodness : 0.991591 with order 1 Centerline is valid? [True, True] Translation: X:180.60, Y:10.01, Z:15.91 [[ 9.74856289e-01 -1.91815899e-01 -1.13410211e-01 1.80602420e+02] [ 1.90550900e-01 9.81430911e-01 -2.19936861e-02 1.00110589e+01] [ 1.15523025e-01 -1.69734613e-04 9.93304788e-01 1.59122830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62864 meters Centerline goodness : 0.991856 with order 1 Centerline is valid? [True, True] Translation: X:180.66, Y:10.02, Z:15.92 [[ 9.74773042e-01 -1.92240250e-01 -1.13407244e-01 1.80659416e+02] [ 1.90976335e-01 9.81347871e-01 -2.20089719e-02 1.00225089e+01] [ 1.15522968e-01 -2.04347407e-04 9.93304788e-01 1.59186203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68864 meters Centerline goodness : 0.995964 with order 1 Centerline is valid? [True, True] Translation: X:180.72, Y:10.04, Z:15.91 [[ 9.74997092e-01 -1.91106900e-01 -1.13396751e-01 1.80717561e+02] [ 1.89829070e-01 9.81569230e-01 -2.20629063e-02 1.00357393e+01] [ 1.15523135e-01 -1.47303009e-05 9.93304790e-01 1.59109995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74864 meters Centerline goodness : 0.997389 with order 1 Centerline is valid? [True, True] Translation: X:180.77, Y:10.05, Z:15.92 [[ 9.74981465e-01 -1.91188826e-01 -1.13393014e-01 1.80774065e+02] [ 1.89909316e-01 9.81553276e-01 -2.20820933e-02 1.00492894e+01] [ 1.15523134e-01 -4.75821937e-06 9.93304790e-01 1.59178424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80864 meters Centerline goodness : 0.998236 with order 1 Centerline is valid? [True, True] Translation: X:180.83, Y:10.06, Z:15.92 [[ 9.74359945e-01 -1.94337579e-01 -1.13382554e-01 1.80830868e+02] [ 1.93073071e-01 9.80934657e-01 -2.21356750e-02 1.00599623e+01] [ 1.15522670e-01 -3.23002878e-04 9.93304791e-01 1.59246210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86863999999997 meters Centerline goodness : 0.997693 with order 1 Centerline is valid? [True, True] Translation: X:180.89, Y:10.07, Z:15.94 [[ 9.73662446e-01 -1.97809381e-01 -1.13370589e-01 1.80887151e+02] [ 1.96561200e-01 9.80240275e-01 -2.21967870e-02 1.00691105e+01] [ 1.15521150e-01 -6.72081083e-04 9.93304793e-01 1.59441952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92863999999997 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:180.94, Y:10.08, Z:15.95 [[ 9.73810784e-01 -1.97083845e-01 -1.13360114e-01 1.80944292e+02] [ 1.95824551e-01 9.80386493e-01 -2.22501536e-02 1.00789403e+01] [ 1.15521871e-01 -5.31253973e-04 9.93304795e-01 1.59524006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:181.00, Y:10.09, Z:15.94 [[ 9.73841830e-01 -1.96936276e-01 -1.13349872e-01 1.81002939e+02] [ 1.95669927e-01 9.80416183e-01 -2.23022090e-02 1.00881768e+01] [ 1.15522163e-01 -4.60337270e-04 9.93304796e-01 1.59445475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.06, Y:10.09, Z:15.95 [[ 9.73495782e-01 -1.98646570e-01 -1.13338006e-01 1.81061808e+02] [ 1.97384768e-01 9.80071007e-01 -2.23623528e-02 1.00945786e+01] [ 1.15521498e-01 -6.01539897e-04 9.93304798e-01 1.59500505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10863999999998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:181.12, Y:10.10, Z:15.97 [[ 9.72613035e-01 -2.02930422e-01 -1.13327525e-01 1.81118552e+02] [ 2.01691406e-01 9.79192590e-01 -2.24153431e-02 1.01011782e+01] [ 1.15518228e-01 -1.05573295e-03 9.93304799e-01 1.59689091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16863999999998 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:181.18, Y:10.11, Z:15.98 [[ 9.71253562e-01 -2.09346036e-01 -1.13317059e-01 1.81176384e+02] [ 2.08144320e-01 9.77840031e-01 -2.24681283e-02 1.01081299e+01] [ 1.15509570e-01 -1.76405248e-03 9.93304801e-01 1.59796140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22863999999998 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:181.23, Y:10.11, Z:15.99 [[ 9.70329365e-01 -2.13594252e-01 -1.13306751e-01 1.81234800e+02] [ 2.12415315e-01 9.76919947e-01 -2.25199921e-02 1.01129493e+01] [ 1.15501766e-01 -2.21627964e-03 9.93304802e-01 1.59864467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.30, Y:10.12, Z:15.98 [[ 9.69851338e-01 -2.15759862e-01 -1.13296351e-01 1.81295329e+02] [ 2.14589546e-01 9.76443456e-01 -2.25721958e-02 1.01203298e+01] [ 1.15497654e-01 -2.42053810e-03 9.93304804e-01 1.59760312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.35, Y:10.13, Z:15.98 [[ 9.69640379e-01 -2.16710938e-01 -1.13286822e-01 1.81352676e+02] [ 2.15541514e-01 9.76232654e-01 -2.26199196e-02 1.01295502e+01] [ 1.15496279e-01 -2.48482574e-03 9.93304805e-01 1.59822679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.41, Y:10.13, Z:15.99 [[ 9.69384304e-01 -2.17858823e-01 -1.13276672e-01 1.81411367e+02] [ 2.16691282e-01 9.75976911e-01 -2.26706370e-02 1.01326879e+01] [ 1.15494414e-01 -2.56950745e-03 9.93304806e-01 1.59879554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:181.47, Y:10.14, Z:16.00 [[ 9.69595163e-01 -2.16924559e-01 -1.13264977e-01 1.81470237e+02] [ 2.15743860e-01 9.76185425e-01 -2.27289157e-02 1.01377907e+01] [ 1.15498080e-01 -2.39837661e-03 9.93304808e-01 1.59954723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.53, Y:10.15, Z:16.00 [[ 9.70843616e-01 -2.11272405e-01 -1.13254778e-01 1.81527113e+02] [ 2.10047419e-01 9.77425788e-01 -2.27796234e-02 1.01483249e+01] [ 1.15510847e-01 -1.67342195e-03 9.93304809e-01 1.60026968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.59, Y:10.16, Z:16.01 [[ 9.71884117e-01 -2.06435105e-01 -1.13251097e-01 1.81585089e+02] [ 2.05175225e-01 9.78459699e-01 -2.27979086e-02 1.01582974e+01] [ 1.15517923e-01 -1.07939411e-03 9.93304809e-01 1.60062477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:181.64, Y:10.17, Z:16.01 [[ 9.72131539e-01 -2.05272593e-01 -1.13240595e-01 1.81642055e+02] [ 2.03998787e-01 9.78704437e-01 -2.28499566e-02 1.01696505e+01] [ 1.15519543e-01 -8.87780534e-04 9.93304811e-01 1.60132594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70863999999997 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:181.70, Y:10.18, Z:16.02 [[ 9.72802831e-01 -2.02073312e-01 -1.13229980e-01 1.81698718e+02] [ 2.00771781e-01 9.79370293e-01 -2.29024363e-02 1.01797725e+01] [ 1.15522050e-01 -4.53829908e-04 9.93304812e-01 1.60193766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76863999999998 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:181.76, Y:10.20, Z:16.03 [[ 9.73254151e-01 -1.99895201e-01 -1.13217784e-01 1.81755512e+02] [ 1.98571975e-01 9.79817274e-01 -2.29625717e-02 1.01953281e+01] [ 1.15522849e-01 -1.33460879e-04 9.93304814e-01 1.60260242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82863999999998 meters Centerline goodness : 0.996515 with order 1 Centerline is valid? [True, True] Translation: X:181.81, Y:10.21, Z:16.05 [[ 9.73845121e-01 -1.97002232e-01 -1.13206898e-01 1.81809315e+02] [ 1.95653285e-01 9.80403004e-01 -2.30161168e-02 1.02103532e+01] [ 1.15522609e-01 2.64831532e-04 9.93304816e-01 1.60526447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88863999999998 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:181.87, Y:10.23, Z:16.04 [[ 9.73232914e-01 -2.00010882e-01 -1.13196038e-01 1.81868033e+02] [ 1.98676009e-01 9.79793675e-01 -2.30694061e-02 1.02266905e+01] [ 1.15522894e-01 -3.74317137e-05 9.93304817e-01 1.60379514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94863999999998 meters Centerline goodness : 0.995628 with order 1 Centerline is valid? [True, True] Translation: X:181.92, Y:10.24, Z:16.06 [[ 9.72609774e-01 -2.03021152e-01 -1.13192926e-01 1.81922791e+02] [ 2.01704810e-01 9.79174279e-01 -2.30846631e-02 1.02417073e+01] [ 1.15522277e-01 -3.79188703e-04 9.93304817e-01 1.60629823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00863999999999 meters Centerline goodness : 0.995335 with order 1 Centerline is valid? [True, True] Translation: X:181.98, Y:10.25, Z:16.07 [[ 9.71514017e-01 -2.08202781e-01 -1.13190625e-01 1.81979388e+02] [ 2.06920136e-01 9.78085188e-01 -2.30959423e-02 1.02539180e+01] [ 1.15518713e-01 -9.83387779e-04 9.93304817e-01 1.60700157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06864 meters Centerline goodness : 0.996708 with order 1 Centerline is valid? [True, True] Translation: X:182.04, Y:10.27, Z:16.06 [[ 9.71450959e-01 -2.08502769e-01 -1.13179638e-01 1.82039044e+02] [ 2.07215894e-01 9.78021302e-01 -2.31496578e-02 1.02670363e+01] [ 1.15518865e-01 -9.63862633e-04 9.93304819e-01 1.60574755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12864 meters Centerline goodness : 0.997004 with order 1 Centerline is valid? [True, True] Translation: X:182.10, Y:10.28, Z:16.06 [[ 9.71727143e-01 -2.07217266e-01 -1.13169623e-01 1.82096096e+02] [ 2.05916010e-01 9.78294652e-01 -2.31985151e-02 1.02799224e+01] [ 1.15520370e-01 -7.60810409e-04 9.93304820e-01 1.60641968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18864 meters Centerline goodness : 0.995144 with order 1 Centerline is valid? [True, True] Translation: X:182.15, Y:10.29, Z:16.09 [[ 9.71692167e-01 -2.07387128e-01 -1.13158792e-01 1.82152149e+02] [ 2.06080881e-01 9.78258683e-01 -2.32512267e-02 1.02934834e+01] [ 1.15520576e-01 -7.26828831e-04 9.93304821e-01 1.60878672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24864 meters Centerline goodness : 0.996612 with order 1 Centerline is valid? [True, True] Translation: X:182.21, Y:10.31, Z:16.08 [[ 9.72063589e-01 -2.05640019e-01 -1.13157241e-01 1.82211763e+02] [ 2.04321092e-01 9.78627570e-01 -2.32587735e-02 1.03094707e+01] [ 1.15521731e-01 -5.11404200e-04 9.93304821e-01 1.60756365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30864 meters Centerline goodness : 0.996303 with order 1 Centerline is valid? [True, True] Translation: X:182.27, Y:10.32, Z:16.08 [[ 9.72226728e-01 -2.04868191e-01 -1.13155707e-01 1.82267328e+02] [ 2.03543184e-01 9.78789484e-01 -2.32662331e-02 1.03243242e+01] [ 1.15522128e-01 -4.12019375e-04 9.93304821e-01 1.60844932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36863999999997 meters Centerline goodness : 0.993865 with order 1 Centerline is valid? [True, True] Translation: X:182.32, Y:10.34, Z:16.11 [[ 9.72495652e-01 -2.03594651e-01 -1.13143380e-01 1.82322132e+02] [ 2.02254093e-01 9.79055248e-01 -2.33260276e-02 1.03421742e+01] [ 1.15522675e-01 -1.99251224e-04 9.93304823e-01 1.61099523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42863999999997 meters Centerline goodness : 0.995819 with order 1 Centerline is valid? [True, True] Translation: X:182.38, Y:10.36, Z:16.10 [[ 9.72752170e-01 -2.02366367e-01 -1.13141809e-01 1.82381117e+02] [ 2.01016640e-01 9.79309885e-01 -2.33336446e-02 1.03572589e+01] [ 1.15522837e-01 -4.55329263e-05 9.93304823e-01 1.61001691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48863999999998 meters Centerline goodness : 0.994596 with order 1 Centerline is valid? [True, True] Translation: X:182.44, Y:10.37, Z:16.12 [[ 9.72934203e-01 -2.01495124e-01 -1.13131564e-01 1.82435539e+02] [ 2.00133761e-01 9.79489511e-01 -2.33832157e-02 1.03719604e+01] [ 1.15522784e-01 1.08885111e-04 9.93304825e-01 1.61234026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54863999999998 meters Centerline goodness : 0.993769 with order 1 Centerline is valid? [True, True] Translation: X:182.49, Y:10.39, Z:16.13 [[ 9.73571979e-01 -1.98396926e-01 -1.13120563e-01 1.82491681e+02] [ 1.97008533e-01 9.80121614e-01 -2.34363117e-02 1.03889996e+01] [ 1.15521601e-01 5.31220134e-04 9.93304826e-01 1.61321593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60863999999998 meters Centerline goodness : 0.994552 with order 1 Centerline is valid? [True, True] Translation: X:182.55, Y:10.40, Z:16.14 [[ 9.73220633e-01 -2.00119583e-01 -1.13109472e-01 1.82547792e+02] [ 1.98736575e-01 9.79771405e-01 -2.34897191e-02 1.04035848e+01] [ 1.15522179e-01 3.81690079e-04 9.93304828e-01 1.61399234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66863999999998 meters Centerline goodness : 0.996566 with order 1 Centerline is valid? [True, True] Translation: X:182.61, Y:10.42, Z:16.13 [[ 9.72733935e-01 -2.02478275e-01 -1.13098365e-01 1.82607065e+02] [ 2.01104948e-01 9.79286742e-01 -2.35430761e-02 1.04151412e+01] [ 1.15522691e-01 1.56508168e-04 9.93304829e-01 1.61280928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72863999999998 meters Centerline goodness : 0.996315 with order 1 Centerline is valid? [True, True] Translation: X:182.66, Y:10.43, Z:16.13 [[ 9.71896266e-01 -2.06467693e-01 -1.13087309e-01 1.82664755e+02] [ 2.05115097e-01 9.78453383e-01 -2.35960662e-02 1.04262602e+01] [ 1.15522485e-01 -2.62985724e-04 9.93304830e-01 1.61348159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78864 meters Centerline goodness : 0.996222 with order 1 Centerline is valid? [True, True] Translation: X:182.72, Y:10.44, Z:16.14 [[ 9.71460962e-01 -2.08512269e-01 -1.13076223e-01 1.82721794e+02] [ 2.07167303e-01 9.78019647e-01 -2.36490733e-02 1.04382412e+01] [ 1.15521890e-01 -4.51544689e-04 9.93304832e-01 1.61407739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84864 meters Centerline goodness : 0.994207 with order 1 Centerline is valid? [True, True] Translation: X:182.78, Y:10.44, Z:16.17 [[ 9.70231296e-01 -2.14166945e-01 -1.13065257e-01 1.82777772e+02] [ 2.12854106e-01 9.76796485e-01 -2.37013886e-02 1.04449209e+01] [ 1.15517799e-01 -1.07057517e-03 9.93304833e-01 1.61654432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90864 meters Centerline goodness : 0.996416 with order 1 Centerline is valid? [True, True] Translation: X:182.84, Y:10.45, Z:16.16 [[ 9.69875429e-01 -2.15778569e-01 -1.13054243e-01 1.82838281e+02] [ 2.14470530e-01 9.76441575e-01 -2.37538086e-02 1.04531235e+01] [ 1.15516426e-01 -1.20856804e-03 9.93304835e-01 1.61550403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96864 meters Centerline goodness : 0.997545 with order 1 Centerline is valid? [True, True] Translation: X:182.90, Y:10.46, Z:16.16 [[ 9.69993871e-01 -2.15250875e-01 -1.13044019e-01 1.82895167e+02] [ 2.13933605e-01 9.76558170e-01 -2.38023669e-02 1.04636529e+01] [ 1.15517540e-01 -1.09576433e-03 9.93304836e-01 1.61632429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02864 meters Centerline goodness : 0.998478 with order 1 Centerline is valid? [True, True] Translation: X:182.95, Y:10.47, Z:16.19 [[ 9.70361066e-01 -2.13596078e-01 -1.13031488e-01 1.82950455e+02] [ 2.12260699e-01 9.76921703e-01 -2.38617232e-02 1.04742826e+01] [ 1.15519685e-01 -8.37655576e-04 9.93304838e-01 1.61864877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.01, Y:10.49, Z:16.18 [[ 9.70881406e-01 -2.11224274e-01 -1.13020358e-01 1.83010308e+02] [ 2.09866744e-01 9.77437494e-01 -2.39143253e-02 1.04887028e+01] [ 1.15521622e-01 -5.01240820e-04 9.93304839e-01 1.61758730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.07, Y:10.50, Z:16.18 [[ 9.70515405e-01 -2.12900044e-01 -1.13019558e-01 1.83067360e+02] [ 2.11553394e-01 9.77073736e-01 -2.39181091e-02 1.05018702e+01] [ 1.15520608e-01 -6.96777553e-04 9.93304839e-01 1.61848873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20863999999997 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:183.12, Y:10.51, Z:16.21 [[ 9.70440560e-01 -2.13246824e-01 -1.13008462e-01 1.83123545e+02] [ 2.11896425e-01 9.76998119e-01 -2.39704199e-02 1.05140249e+01] [ 1.15520671e-01 -6.84221374e-04 9.93304841e-01 1.62079234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26863999999998 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:183.18, Y:10.53, Z:16.21 [[ 9.70026414e-01 -2.15123695e-01 -1.13006868e-01 1.83181091e+02] [ 2.13785109e-01 9.76586395e-01 -2.39779333e-02 1.05263992e+01] [ 1.15519191e-01 -8.99956883e-04 9.93304841e-01 1.62135591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32863999999998 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:183.24, Y:10.54, Z:16.22 [[ 9.69164390e-01 -2.18980246e-01 -1.12995740e-01 1.83237982e+02] [ 2.17661662e-01 9.75728419e-01 -2.40302598e-02 1.05364972e+01] [ 1.15515307e-01 -1.30556845e-03 9.93304842e-01 1.62234646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:183.30, Y:10.55, Z:16.21 [[ 9.68813580e-01 -2.20532881e-01 -1.12984489e-01 1.83298680e+02] [ 2.19218662e-01 9.75378483e-01 -2.40830455e-02 1.05472735e+01] [ 1.15513743e-01 -1.43632690e-03 9.93304844e-01 1.62089893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.36, Y:10.56, Z:16.22 [[ 9.68989032e-01 -2.19761484e-01 -1.12982942e-01 1.83355427e+02] [ 2.18441192e-01 9.75552717e-01 -2.40903010e-02 1.05604763e+01] [ 1.15514936e-01 -1.33689105e-03 9.93304844e-01 1.62168147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50863999999999 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:183.41, Y:10.57, Z:16.24 [[ 9.68791960e-01 -2.20634238e-01 -1.12971991e-01 1.83410558e+02] [ 2.19313884e-01 9.75355631e-01 -2.41415450e-02 1.05742072e+01] [ 1.15514319e-01 -1.38819150e-03 9.93304845e-01 1.62434753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:183.47, Y:10.59, Z:16.23 [[ 9.69445012e-01 -2.17747684e-01 -1.12970416e-01 1.83469480e+02] [ 2.16406928e-01 9.76004545e-01 -2.41489129e-02 1.05885288e+01] [ 1.15518010e-01 -1.03653749e-03 9.93304845e-01 1.62319059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62864 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:183.52, Y:10.60, Z:16.26 [[ 9.69263301e-01 -2.18556744e-01 -1.12967267e-01 1.83523591e+02] [ 2.17219747e-01 9.75823601e-01 -2.41636356e-02 1.06019727e+01] [ 1.15517251e-01 -1.11779595e-03 9.93304845e-01 1.62582529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.58, Y:10.62, Z:16.25 [[ 9.70278962e-01 -2.14008562e-01 -1.12956062e-01 1.83582178e+02] [ 2.12634728e-01 9.76831645e-01 -2.42159005e-02 1.06178360e+01] [ 1.15521466e-01 -5.22202817e-04 9.93304847e-01 1.62453941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74864 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:183.64, Y:10.63, Z:16.27 [[ 9.70704494e-01 -2.12076073e-01 -1.12944782e-01 1.83637645e+02] [ 2.10683085e-01 9.77253131e-01 -2.42684016e-02 1.06323356e+01] [ 1.15522389e-01 -2.38108482e-04 9.93304848e-01 1.62697970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80864 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:183.69, Y:10.65, Z:16.28 [[ 9.70812749e-01 -2.11580828e-01 -1.12943171e-01 1.83692975e+02] [ 2.10183627e-01 9.77360488e-01 -2.42758963e-02 1.06505879e+01] [ 1.15522507e-01 -1.71455688e-04 9.93304848e-01 1.62765774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86863999999997 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:183.75, Y:10.67, Z:16.28 [[ 9.70639452e-01 -2.12381439e-01 -1.12929972e-01 1.83749267e+02] [ 2.10982512e-01 9.77186821e-01 -2.43371412e-02 1.06656075e+01] [ 1.15522438e-01 -2.03659867e-04 9.93304850e-01 1.62820022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92863999999997 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:183.80, Y:10.68, Z:16.29 [[ 9.70028136e-01 -2.15162381e-01 -1.12918402e-01 1.83804039e+02] [ 2.13775989e-01 9.76578169e-01 -2.43907100e-02 1.06846702e+01] [ 1.15521609e-01 -4.79568087e-04 9.93304851e-01 1.62892769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:183.86, Y:10.70, Z:16.28 [[ 9.68744736e-01 -2.20875700e-01 -1.12905097e-01 1.83862588e+02] [ 2.19520777e-01 9.75301349e-01 -2.44521420e-02 1.06989386e+01] [ 1.15517378e-01 -1.09713088e-03 9.93304853e-01 1.62800573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.92, Y:10.71, Z:16.29 [[ 9.67599284e-01 -2.25842412e-01 -1.12901858e-01 1.83919528e+02] [ 2.24519398e-01 9.74162410e-01 -2.44670893e-02 1.07111528e+01] [ 1.15510453e-01 -1.67431915e-03 9.93304853e-01 1.62864784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:183.98, Y:10.72, Z:16.29 [[ 9.67327521e-01 -2.27009112e-01 -1.12890787e-01 1.83977235e+02] [ 2.25688065e-01 9.73891042e-01 -2.45180665e-02 1.07226405e+01] [ 1.15509151e-01 -1.76110274e-03 9.93304855e-01 1.62926062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:184.03, Y:10.74, Z:16.30 [[ 9.68646444e-01 -2.21319321e-01 -1.12879688e-01 1.84033769e+02] [ 2.19953775e-01 9.75200850e-01 -2.45690593e-02 1.07351715e+01] [ 1.15517975e-01 -1.02958151e-03 9.93304856e-01 1.63007995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.09, Y:10.75, Z:16.31 [[ 9.70303365e-01 -2.13944066e-01 -1.12868580e-01 1.84090295e+02] [ 2.12522774e-01 9.76845907e-01 -2.46199853e-02 1.07511980e+01] [ 1.15522510e-01 -9.82890708e-05 9.93304858e-01 1.63069936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.15, Y:10.77, Z:16.31 [[ 9.70995235e-01 -2.10787767e-01 -1.12857306e-01 1.84146889e+02] [ 2.09339213e-01 9.77531794e-01 -2.46715577e-02 1.07687763e+01] [ 1.15522067e-01 3.30505341e-04 9.93304859e-01 1.63123015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.20, Y:10.79, Z:16.32 [[ 9.70382266e-01 -2.13597453e-01 -1.12846736e-01 1.84202045e+02] [ 2.12162214e-01 9.76921760e-01 -2.47198080e-02 1.07856032e+01] [ 1.15522520e-01 4.58498378e-05 9.93304860e-01 1.63198861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.26, Y:10.80, Z:16.33 [[ 9.69115843e-01 -2.19278530e-01 -1.12833548e-01 1.84257992e+02] [ 2.17874634e-01 9.75662135e-01 -2.47798629e-02 1.08021581e+01] [ 1.15521112e-01 -5.69010173e-04 9.93304862e-01 1.63255297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.31, Y:10.82, Z:16.33 [[ 9.68277322e-01 -2.22957896e-01 -1.12822005e-01 1.84312605e+02] [ 2.21572763e-01 9.74827609e-01 -2.48323070e-02 1.08197331e+01] [ 1.15518564e-01 -9.53723685e-04 9.93304863e-01 1.63327515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:184.37, Y:10.84, Z:16.34 [[ 9.67616650e-01 -2.25814392e-01 -1.12809039e-01 1.84369170e+02] [ 2.24441746e-01 9.74169563e-01 -2.48910680e-02 1.08359062e+01] [ 1.15515894e-01 -1.23404588e-03 9.93304865e-01 1.63374004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:184.43, Y:10.85, Z:16.35 [[ 9.65914065e-01 -2.32995037e-01 -1.12797745e-01 1.84426324e+02] [ 2.31665137e-01 9.72475786e-01 -2.49421490e-02 1.08470765e+01] [ 1.15504472e-01 -2.03933239e-03 9.93304867e-01 1.63458361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:184.48, Y:10.86, Z:16.35 [[ 9.65026697e-01 -2.36648900e-01 -1.12786403e-01 1.84483521e+02] [ 2.35337863e-01 9.71592211e-01 -2.49933296e-02 1.08563381e+01] [ 1.15497035e-01 -2.42368080e-03 9.93304868e-01 1.63525931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:184.54, Y:10.87, Z:16.36 [[ 9.65791833e-01 -2.33512828e-01 -1.12773644e-01 1.84541377e+02] [ 2.32173765e-01 9.72351686e-01 -2.50507691e-02 1.08653138e+01] [ 1.15505319e-01 -1.98925329e-03 9.93304870e-01 1.63590476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:184.60, Y:10.88, Z:16.37 [[ 9.67703390e-01 -2.25465653e-01 -1.12762527e-01 1.84598439e+02] [ 2.24066214e-01 9.74250628e-01 -2.51007105e-02 1.08761742e+01] [ 1.15518311e-01 -9.76229920e-04 9.93304871e-01 1.63679082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:184.66, Y:10.89, Z:16.37 [[ 9.69589268e-01 -2.17218325e-01 -1.12751276e-01 1.84655916e+02] [ 2.15757326e-01 9.76123043e-01 -2.51511513e-02 1.08871063e+01] [ 1.15522409e-01 5.93725583e-05 9.93304872e-01 1.63734858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88863999999998 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:184.71, Y:10.90, Z:16.38 [[ 9.70519945e-01 -2.13027700e-01 -1.12739678e-01 1.84712591e+02] [ 2.11532462e-01 9.77045969e-01 -2.52030342e-02 1.09024440e+01] [ 1.15520792e-01 6.11945821e-04 9.93304874e-01 1.63823719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94863999999998 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:184.77, Y:10.92, Z:16.41 [[ 9.71791287e-01 -2.07156700e-01 -1.12728862e-01 1.84765695e+02] [ 2.05616437e-01 9.78306829e-01 -2.52513174e-02 1.09226325e+01] [ 1.15514395e-01 1.36010321e-03 9.93304875e-01 1.64067922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00863999999999 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:184.82, Y:10.95, Z:16.40 [[ 9.73222954e-01 -2.00329075e-01 -1.12717984e-01 1.84822111e+02] [ 1.98737496e-01 9.79726150e-01 -2.52997852e-02 1.09462876e+01] [ 1.15501039e-01 2.22104183e-03 9.93304876e-01 1.63970459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:184.88, Y:10.97, Z:16.40 [[ 9.72576446e-01 -2.03451291e-01 -1.12705941e-01 1.84877294e+02] [ 2.01874387e-01 9.79083215e-01 -2.53533214e-02 1.09670729e+01] [ 1.15506661e-01 1.90560051e-03 9.93304878e-01 1.64038747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:184.93, Y:10.98, Z:16.41 [[ 9.71896097e-01 -2.06683372e-01 -1.12694097e-01 1.84932442e+02] [ 2.05122017e-01 9.78406613e-01 -2.54058603e-02 1.09848716e+01] [ 1.15511618e-01 1.57581615e-03 9.93304879e-01 1.64099837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:184.99, Y:11.00, Z:16.42 [[ 9.71044170e-01 -2.10656829e-01 -1.12680611e-01 1.84988035e+02] [ 2.09115192e-01 9.77559381e-01 -2.54655326e-02 1.10018372e+01] [ 1.15516477e-01 1.16492934e-03 9.93304881e-01 1.64159852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:185.04, Y:11.02, Z:16.42 [[ 9.70525693e-01 -2.13039970e-01 -1.12666985e-01 1.85043344e+02] [ 2.11507349e-01 9.77043029e-01 -2.55256784e-02 1.10204069e+01] [ 1.15518482e-01 9.43431423e-04 9.93304883e-01 1.64235948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:185.10, Y:11.04, Z:16.43 [[ 9.69974743e-01 -2.15540748e-01 -1.12655155e-01 1.85098539e+02] [ 2.14018878e-01 9.76494596e-01 -2.55777824e-02 1.10367577e+01] [ 1.15520204e-01 6.99473023e-04 9.93304884e-01 1.64314119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36863999999997 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:185.15, Y:11.05, Z:16.44 [[ 9.69254061e-01 -2.18765733e-01 -1.12641550e-01 1.85154115e+02] [ 2.17258610e-01 9.75777337e-01 -2.56375566e-02 1.10546259e+01] [ 1.15521691e-01 3.76959214e-04 9.93304886e-01 1.64364913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42863999999997 meters Centerline goodness : 0.996810 with order 1 Centerline is valid? [True, True] Translation: X:185.21, Y:11.07, Z:16.46 [[ 9.68615150e-01 -2.21583459e-01 -1.12629753e-01 1.85209801e+02] [ 2.20089298e-01 9.75141406e-01 -2.56892813e-02 1.10694627e+01] [ 1.15522255e-01 9.44237882e-05 9.93304888e-01 1.64603727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48863999999998 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:185.27, Y:11.08, Z:16.45 [[ 9.67267495e-01 -2.27395073e-01 -1.12628035e-01 1.85268190e+02] [ 2.25939246e-01 9.73802409e-01 -2.56968119e-02 1.10848388e+01] [ 1.15520780e-01 -5.91402436e-04 9.93304888e-01 1.64482371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54863999999998 meters Centerline goodness : 0.995683 with order 1 Centerline is valid? [True, True] Translation: X:185.32, Y:11.10, Z:16.48 [[ 9.65946128e-01 -2.32945852e-01 -1.12624633e-01 1.85323113e+02] [ 2.31525839e-01 9.72488917e-01 -2.57117137e-02 1.10964305e+01] [ 1.15515644e-01 -1.23938225e-03 9.93304888e-01 1.64771312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60863999999998 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:185.38, Y:11.11, Z:16.46 [[ 9.65091455e-01 -2.36467315e-01 -1.12613023e-01 1.85383328e+02] [ 2.35065253e-01 9.71638113e-01 -2.57624618e-02 1.11077197e+01] [ 1.15511086e-01 -1.60827702e-03 9.93304889e-01 1.64621213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66863999999998 meters Centerline goodness : 0.994449 with order 1 Centerline is valid? [True, True] Translation: X:185.44, Y:11.12, Z:16.49 [[ 9.64912241e-01 -2.37202957e-01 -1.12601619e-01 1.85438199e+02] [ 2.35800081e-01 9.71458723e-01 -2.58122125e-02 1.11165500e+01] [ 1.15510558e-01 -1.64495107e-03 9.93304890e-01 1.64923867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72863999999998 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:185.50, Y:11.13, Z:16.48 [[ 9.64488860e-01 -2.38923986e-01 -1.12590270e-01 1.85498880e+02] [ 2.37527025e-01 9.71036605e-01 -2.58616227e-02 1.11254700e+01] [ 1.15508235e-01 -1.79998476e-03 9.93304892e-01 1.64763064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78864 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:185.56, Y:11.14, Z:16.48 [[ 9.63949532e-01 -2.41096128e-01 -1.12578668e-01 1.85556106e+02] [ 2.39708035e-01 9.70499163e-01 -2.59120277e-02 1.11353629e+01] [ 1.15504793e-01 -2.00812442e-03 9.93304893e-01 1.64837217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:185.61, Y:11.14, Z:16.49 [[ 9.63600054e-01 -2.42494406e-01 -1.12567311e-01 1.85613402e+02] [ 2.41110066e-01 9.70150477e-01 -2.59612719e-02 1.11415826e+01] [ 1.15502694e-01 -2.12482883e-03 9.93304894e-01 1.64891482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:185.67, Y:11.15, Z:16.50 [[ 9.63912767e-01 -2.41254499e-01 -1.12554186e-01 1.85671187e+02] [ 2.39855105e-01 9.70459989e-01 -2.60180510e-02 1.11490842e+01] [ 1.15506306e-01 -1.91756458e-03 9.93304896e-01 1.64956444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:185.73, Y:11.16, Z:16.50 [[ 9.65163338e-01 -2.36208096e-01 -1.12540949e-01 1.85727838e+02] [ 2.34767806e-01 9.71701684e-01 -2.60751836e-02 1.11597223e+01] [ 1.15515399e-01 -1.25418044e-03 9.93304898e-01 1.65017283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:185.78, Y:11.17, Z:16.51 [[ 9.66246818e-01 -2.31742616e-01 -1.12527536e-01 1.85784735e+02] [ 2.30265380e-01 9.72776914e-01 -2.61329419e-02 1.11693573e+01] [ 1.15520305e-01 -6.60323892e-04 9.93304899e-01 1.65094280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:185.84, Y:11.18, Z:16.51 [[ 9.67139567e-01 -2.27994871e-01 -1.12513985e-01 1.85842778e+02] [ 2.26485557e-01 9.73662321e-01 -2.61911564e-02 1.11800250e+01] [ 1.15522077e-01 -1.52288800e-04 9.93304901e-01 1.65149488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:185.90, Y:11.19, Z:16.52 [[ 9.67295644e-01 -2.27337715e-01 -1.12502003e-01 1.85898886e+02] [ 2.25817995e-01 9.73815980e-01 -2.62425244e-02 1.11924335e+01] [ 1.15522163e-01 -2.06971526e-05 9.93304902e-01 1.65222499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20863999999997 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:185.96, Y:11.20, Z:16.53 [[ 9.66340194e-01 -2.31372062e-01 -1.12488213e-01 1.85956858e+02] [ 2.29872698e-01 9.72865239e-01 -2.63015022e-02 1.12010854e+01] [ 1.15521305e-01 -4.41770217e-04 9.93304904e-01 1.65268312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26863999999998 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:186.01, Y:11.21, Z:16.53 [[ 9.66185291e-01 -2.32023898e-01 -1.12476195e-01 1.86013291e+02] [ 2.30522965e-01 9.72709974e-01 -2.63527944e-02 1.12128276e+01] [ 1.15521195e-01 -4.66663747e-04 9.93304906e-01 1.65338350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32863999999998 meters Centerline goodness : 0.998627 with order 1 Centerline is valid? [True, True] Translation: X:186.07, Y:11.22, Z:16.54 [[ 9.65906741e-01 -2.33187408e-01 -1.12462445e-01 1.86069775e+02] [ 2.31687516e-01 9.72431661e-01 -2.64113485e-02 1.12240540e+01] [ 1.15520836e-01 -5.45244892e-04 9.93304907e-01 1.65409779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38863999999998 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:186.13, Y:11.24, Z:16.55 [[ 9.65838591e-01 -2.33476165e-01 -1.12448641e-01 1.86127179e+02] [ 2.31971397e-01 9.72362387e-01 -2.64699873e-02 1.12366392e+01] [ 1.15520940e-01 -5.19133246e-04 9.93304909e-01 1.65476435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44863999999998 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:186.18, Y:11.25, Z:16.55 [[ 9.65870742e-01 -2.33348974e-01 -1.12436497e-01 1.86184351e+02] [ 2.31837353e-01 9.72392952e-01 -2.65214738e-02 1.12489082e+01] [ 1.15521216e-01 -4.50664232e-04 9.93304911e-01 1.65533292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50863999999999 meters Centerline goodness : 0.994267 with order 1 Centerline is valid? [True, True] Translation: X:186.24, Y:11.26, Z:16.58 [[ 9.65748486e-01 -2.33860222e-01 -1.12424454e-01 1.86240676e+02] [ 2.32346121e-01 9.72270120e-01 -2.65724280e-02 1.12605219e+01] [ 1.15521171e-01 -4.59103629e-04 9.93304912e-01 1.65777514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56864 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:186.30, Y:11.27, Z:16.57 [[ 9.65347801e-01 -2.35509563e-01 -1.12422726e-01 1.86300603e+02] [ 2.34005754e-01 9.71871815e-01 -2.65797366e-02 1.12731606e+01] [ 1.15520261e-01 -6.48874462e-04 9.93304912e-01 1.65684499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62864 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:186.36, Y:11.28, Z:16.57 [[ 9.64493236e-01 -2.38986028e-01 -1.12420980e-01 1.86358737e+02] [ 2.37504874e-01 9.71022430e-01 -2.65871179e-02 1.12821452e+01] [ 1.15517243e-01 -1.05743536e-03 9.93304912e-01 1.65747017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68864 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:186.42, Y:11.29, Z:16.58 [[ 9.63993229e-01 -2.41000615e-01 -1.12408892e-01 1.86415601e+02] [ 2.39527157e-01 9.70524163e-01 -2.66381272e-02 1.12905491e+01] [ 1.15515351e-01 -1.24600819e-03 9.93304913e-01 1.65820935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74864 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:186.47, Y:11.30, Z:16.59 [[ 9.64900311e-01 -2.37349385e-01 -1.12395108e-01 1.86471538e+02] [ 2.35844452e-01 9.71424063e-01 -2.66961639e-02 1.13045708e+01] [ 1.15519630e-01 -7.48625761e-04 9.93304915e-01 1.65897803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80864 meters Centerline goodness : 0.997889 with order 1 Centerline is valid? [True, True] Translation: X:186.53, Y:11.31, Z:16.60 [[ 9.65703699e-01 -2.34065921e-01 -1.12381093e-01 1.86528913e+02] [ 2.32531956e-01 9.72220684e-01 -2.67550320e-02 1.13149486e+01] [ 1.15521664e-01 -2.94761908e-04 9.93304917e-01 1.65953558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86863999999997 meters Centerline goodness : 0.998332 with order 1 Centerline is valid? [True, True] Translation: X:186.59, Y:11.33, Z:16.60 [[ 9.65794431e-01 -2.33697172e-01 -1.12368808e-01 1.86585256e+02] [ 2.32154727e-01 9.72309412e-01 -2.68065298e-02 1.13286972e+01] [ 1.15521860e-01 -1.97352641e-04 9.93304918e-01 1.66043013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92863999999997 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:186.64, Y:11.34, Z:16.61 [[ 9.64927959e-01 -2.37255326e-01 -1.12356328e-01 1.86642584e+02] [ 2.35730826e-01 9.71447161e-01 -2.68587357e-02 1.13384332e+01] [ 1.15520614e-01 -5.69104952e-04 9.93304920e-01 1.66105628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98863999999998 meters Centerline goodness : 0.992978 with order 1 Centerline is valid? [True, True] Translation: X:186.70, Y:11.35, Z:16.64 [[ 9.64382643e-01 -2.39468978e-01 -1.12342008e-01 1.86698057e+02] [ 2.37952479e-01 9.70903709e-01 -2.69185014e-02 1.13480807e+01] [ 1.15519418e-01 -7.72323690e-04 9.93304922e-01 1.66367428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04863999999998 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:186.76, Y:11.36, Z:16.62 [[ 9.64914546e-01 -2.37322514e-01 -1.12329622e-01 1.86756589e+02] [ 2.35785503e-01 9.71430806e-01 -2.69700883e-02 1.13619196e+01] [ 1.15521064e-01 -4.61865978e-04 9.93304923e-01 1.66246316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10863999999998 meters Centerline goodness : 0.998283 with order 1 Centerline is valid? [True, True] Translation: X:186.81, Y:11.38, Z:16.63 [[ 9.65790149e-01 -2.33739786e-01 -1.12316960e-01 1.86811937e+02] [ 2.32172481e-01 9.72299188e-01 -2.70227174e-02 1.13792110e+01] [ 1.15521973e-01 2.13669567e-05 9.93304925e-01 1.66322919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16863999999998 meters Centerline goodness : 0.991563 with order 1 Centerline is valid? [True, True] Translation: X:186.87, Y:11.39, Z:16.66 [[ 9.65235841e-01 -2.36024330e-01 -1.12304438e-01 1.86866042e+02] [ 2.34466387e-01 9.71747126e-01 -2.70746591e-02 1.13935475e+01] [ 1.15521793e-01 -1.98184402e-04 9.93304926e-01 1.66611158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22863999999998 meters Centerline goodness : 0.998331 with order 1 Centerline is valid? [True, True] Translation: X:186.93, Y:11.41, Z:16.65 [[ 9.64750353e-01 -2.38002695e-01 -1.12300817e-01 1.86925105e+02] [ 2.36456357e-01 9.71264403e-01 -2.70896689e-02 1.14103371e+01] [ 1.15521200e-01 -4.19474502e-04 9.93304926e-01 1.66451637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28864 meters Centerline goodness : 0.998283 with order 1 Centerline is valid? [True, True] Translation: X:186.98, Y:11.43, Z:16.65 [[ 9.63212987e-01 -2.44151334e-01 -1.12298121e-01 1.86980443e+02] [ 2.42645274e-01 9.69736467e-01 -2.71008397e-02 1.14262612e+01] [ 1.15516290e-01 -1.14472771e-03 9.93304926e-01 1.66527456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34864 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:187.04, Y:11.44, Z:16.66 [[ 9.62687711e-01 -2.46220858e-01 -1.12283840e-01 1.87037257e+02] [ 2.44721935e-01 9.69212833e-01 -2.71598840e-02 1.14420834e+01] [ 1.15514268e-01 -1.33183192e-03 9.93304928e-01 1.66581536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40864 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:187.09, Y:11.45, Z:16.66 [[ 9.62099868e-01 -2.48513521e-01 -1.12271431e-01 1.87093967e+02] [ 2.47024173e-01 9.68627181e-01 -2.72110828e-02 1.14547144e+01] [ 1.15511481e-01 -1.55397814e-03 9.93304929e-01 1.66633260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:187.15, Y:11.47, Z:16.67 [[ 9.61811261e-01 -2.49634540e-01 -1.12257268e-01 1.87150282e+02] [ 2.48145995e-01 9.68338756e-01 -2.72693861e-02 1.14685464e+01] [ 1.15510444e-01 -1.62818886e-03 9.93304931e-01 1.66705225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52864 meters Centerline goodness : 0.998137 with order 1 Centerline is valid? [True, True] Translation: X:187.20, Y:11.49, Z:16.69 [[ 9.63429089e-01 -2.43321725e-01 -1.12244946e-01 1.87204509e+02] [ 2.41784508e-01 9.69945292e-01 -2.73200102e-02 1.14856257e+01] [ 1.15519009e-01 -8.18196559e-04 9.93304933e-01 1.66932862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58863999999997 meters Centerline goodness : 0.998135 with order 1 Centerline is valid? [True, True] Translation: X:187.26, Y:11.50, Z:16.71 [[ 9.65300861e-01 -2.35792078e-01 -1.12233431e-01 1.87260549e+02] [ 2.34198539e-01 9.71803518e-01 -2.73672364e-02 1.15034850e+01] [ 1.15521821e-01 1.32711315e-04 9.93304934e-01 1.67052748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64863999999997 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:187.32, Y:11.52, Z:16.71 [[ 9.65349958e-01 -2.35591865e-01 -1.12231596e-01 1.87316913e+02] [ 2.33996103e-01 9.71852070e-01 -2.73747596e-02 1.15212279e+01] [ 1.15521779e-01 1.64466933e-04 9.93304934e-01 1.67100585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:187.38, Y:11.54, Z:16.70 [[ 9.63944510e-01 -2.41284071e-01 -1.12218443e-01 1.87375413e+02] [ 2.39720440e-01 9.70454421e-01 -2.74285727e-02 1.15374322e+01] [ 1.15520962e-01 -4.61432487e-04 9.93304935e-01 1.66969803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76863999999998 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:187.43, Y:11.55, Z:16.72 [[ 9.64110822e-01 -2.40624724e-01 -1.12205456e-01 1.87429923e+02] [ 2.39050469e-01 9.70618172e-01 -2.74815981e-02 1.15536111e+01] [ 1.15521407e-01 -3.27460761e-04 9.93304937e-01 1.67163932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.49, Y:11.57, Z:16.71 [[ 9.64202359e-01 -2.40263585e-01 -1.12192785e-01 1.87487688e+02] [ 2.38680885e-01 9.70707658e-01 -2.75332293e-02 1.15720158e+01] [ 1.15521628e-01 -2.30668580e-04 9.93304938e-01 1.67101584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88863999999998 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:187.54, Y:11.59, Z:16.74 [[ 9.64495198e-01 -2.39090939e-01 -1.12180818e-01 1.87541461e+02] [ 2.37494668e-01 9.70997179e-01 -2.75819051e-02 1.15904708e+01] [ 1.15521841e-01 -3.97309762e-05 9.93304939e-01 1.67362007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.60, Y:11.61, Z:16.72 [[ 9.63918303e-01 -2.41411831e-01 -1.12168772e-01 1.87598416e+02] [ 2.39825524e-01 9.70422721e-01 -2.76308042e-02 1.16097432e+01] [ 1.15521528e-01 -2.67096721e-04 9.93304941e-01 1.67233130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.65, Y:11.62, Z:16.73 [[ 9.62566803e-01 -2.46752130e-01 -1.12154072e-01 1.87654460e+02] [ 2.45194970e-01 9.69078259e-01 -2.76903472e-02 1.16243749e+01] [ 1.15518725e-01 -8.45805353e-04 9.93304943e-01 1.67292596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:187.71, Y:11.64, Z:16.74 [[ 9.61573190e-01 -2.50602723e-01 -1.12139536e-01 1.87709520e+02] [ 2.49064788e-01 9.68089211e-01 -2.77490888e-02 1.16422576e+01] [ 1.15515072e-01 -1.24723000e-03 9.93304944e-01 1.67370910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:187.77, Y:11.66, Z:16.74 [[ 9.61937846e-01 -2.49205795e-01 -1.12125165e-01 1.87765293e+02] [ 2.47651642e-01 9.68450016e-01 -2.78070379e-02 1.16581457e+01] [ 1.15517293e-01 -1.01933910e-03 9.93304946e-01 1.67440613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.82, Y:11.67, Z:16.75 [[ 9.61779854e-01 -2.49821250e-01 -1.12110910e-01 1.87820721e+02] [ 2.48264579e-01 9.68291420e-01 -2.78643917e-02 1.16744430e+01] [ 1.15517150e-01 -1.03375738e-03 9.93304948e-01 1.67516134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:187.88, Y:11.69, Z:16.76 [[ 9.60925553e-01 -2.53093751e-01 -1.12096544e-01 1.87877669e+02] [ 2.51552527e-01 9.67440791e-01 -2.79220692e-02 1.16867756e+01] [ 1.15513670e-01 -1.36713909e-03 9.93304950e-01 1.67584049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30864 meters Centerline goodness : 0.998473 with order 1 Centerline is valid? [True, True] Translation: X:187.93, Y:11.70, Z:16.78 [[ 9.59415603e-01 -2.58764120e-01 -1.12084030e-01 1.87932775e+02] [ 2.57255543e-01 9.65938477e-01 -2.79722115e-02 1.16988657e+01] [ 1.15504482e-01 -1.99726192e-03 9.93304951e-01 1.67836338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36863999999997 meters Centerline goodness : 0.998087 with order 1 Centerline is valid? [True, True] Translation: X:187.99, Y:11.71, Z:16.79 [[ 9.58804725e-01 -2.61023540e-01 -1.12072346e-01 1.87989952e+02] [ 2.59524872e-01 9.65329881e-01 -2.80189461e-02 1.17089739e+01] [ 1.15500389e-01 -2.22086342e-03 9.93304952e-01 1.67904243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:188.05, Y:11.72, Z:16.78 [[ 9.58241343e-01 -2.63089770e-01 -1.12059369e-01 1.88050724e+02] [ 2.61599116e-01 9.64768332e-01 -2.80707531e-02 1.17173001e+01] [ 1.15496458e-01 -2.41607569e-03 9.93304954e-01 1.67787964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:188.11, Y:11.72, Z:16.79 [[ 9.57565964e-01 -2.65542311e-01 -1.12047785e-01 1.88109548e+02] [ 2.64062974e-01 9.64095527e-01 -2.81169157e-02 1.17233735e+01] [ 1.15490999e-01 -2.66386988e-03 9.93304955e-01 1.67858345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54863999999998 meters Centerline goodness : 0.996613 with order 1 Centerline is valid? [True, True] Translation: X:188.17, Y:11.73, Z:16.82 [[ 9.57531126e-01 -2.65673063e-01 -1.12035560e-01 1.88165178e+02] [ 2.64188930e-01 9.64059599e-01 -2.81655433e-02 1.17318735e+01] [ 1.15491784e-01 -2.62917048e-03 9.93304956e-01 1.68176175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:188.23, Y:11.74, Z:16.80 [[ 9.60256613e-01 -2.55649479e-01 -1.12029373e-01 1.88226472e+02] [ 2.54094318e-01 9.66768532e-01 -2.81901332e-02 1.17408529e+01] [ 1.15513265e-01 -1.39626520e-03 9.93304956e-01 1.68010205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:188.28, Y:11.75, Z:16.81 [[ 9.60784574e-01 -2.53659272e-01 -1.12026678e-01 1.88284588e+02] [ 2.52089373e-01 9.67292955e-01 -2.82008377e-02 1.17491733e+01] [ 1.15516020e-01 -1.14580512e-03 9.93304956e-01 1.68083315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:188.34, Y:11.76, Z:16.81 [[ 9.60810105e-01 -2.53568235e-01 -1.12013800e-01 1.88341661e+02] [ 2.51991767e-01 9.67316897e-01 -2.82518982e-02 1.17579393e+01] [ 1.15516625e-01 -1.08184605e-03 9.93304958e-01 1.68143784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:188.40, Y:11.77, Z:16.82 [[ 9.60876720e-01 -2.53322125e-01 -1.11999240e-01 1.88398190e+02] [ 2.51737276e-01 9.67381474e-01 -2.83094999e-02 1.17680096e+01] [ 1.15517413e-01 -9.92444268e-04 9.93304959e-01 1.68212235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84864 meters Centerline goodness : 0.998283 with order 1 Centerline is valid? [True, True] Translation: X:188.45, Y:11.78, Z:16.85 [[ 9.59950466e-01 -2.56816216e-01 -1.11984527e-01 1.88453482e+02] [ 2.55248268e-01 9.66459312e-01 -2.83675831e-02 1.17779512e+01] [ 1.15513744e-01 -1.35238195e-03 9.93304961e-01 1.68470506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90864 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:188.51, Y:11.79, Z:16.85 [[ 9.59219005e-01 -2.59540165e-01 -1.11972331e-01 1.88511174e+02] [ 2.57985090e-01 9.65730938e-01 -2.84156439e-02 1.17895962e+01] [ 1.15510145e-01 -1.63036618e-03 9.93304962e-01 1.68522556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96864 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:188.57, Y:11.80, Z:16.86 [[ 9.57849270e-01 -2.64556243e-01 -1.11958785e-01 1.88568165e+02] [ 2.63029041e-01 9.64367795e-01 -2.84689170e-02 1.17999702e+01] [ 1.15501076e-01 -2.17948040e-03 9.93304964e-01 1.68612920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:188.63, Y:11.81, Z:16.85 [[ 9.57069279e-01 -2.67369799e-01 -1.11945454e-01 1.88627786e+02] [ 2.65855642e-01 9.63590845e-01 -2.85212391e-02 1.18121097e+01] [ 1.15495333e-01 -2.46452886e-03 9.93304965e-01 1.68460224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:188.69, Y:11.82, Z:16.85 [[ 9.56925471e-01 -2.67885576e-01 -1.11941778e-01 1.88685336e+02] [ 2.66373247e-01 9.63447461e-01 -2.85356609e-02 1.18240171e+01] [ 1.15494314e-01 -2.51179421e-03 9.93304965e-01 1.68519106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14863999999997 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:188.74, Y:11.83, Z:16.86 [[ 9.57360529e-01 -2.66331905e-01 -1.11929143e-01 1.88742164e+02] [ 2.64803210e-01 9.63878701e-01 -2.85851340e-02 1.18340304e+01] [ 1.15499251e-01 -2.27291742e-03 9.93304967e-01 1.68594510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20863999999997 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:188.80, Y:11.84, Z:16.87 [[ 9.57354524e-01 -2.66359546e-01 -1.11914730e-01 1.88799293e+02] [ 2.64824457e-01 9.63871191e-01 -2.86414558e-02 1.18446925e+01] [ 1.15500309e-01 -2.21773026e-03 9.93304968e-01 1.68655613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26863999999998 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:188.86, Y:11.85, Z:16.87 [[ 9.57605016e-01 -2.65460432e-01 -1.11907962e-01 1.88857111e+02] [ 2.63916138e-01 9.64119508e-01 -2.86678746e-02 1.18547132e+01] [ 1.15502835e-01 -2.08181656e-03 9.93304969e-01 1.68726648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32863999999998 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:188.91, Y:11.87, Z:16.88 [[ 9.58428620e-01 -2.62476757e-01 -1.11895187e-01 1.88912604e+02] [ 2.60906371e-01 9.64936870e-01 -2.87176511e-02 1.18683431e+01] [ 1.15509507e-01 -1.67034842e-03 9.93304970e-01 1.68803117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38863999999998 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:188.97, Y:11.88, Z:16.89 [[ 9.59220589e-01 -2.59573935e-01 -1.11880444e-01 1.88969492e+02] [ 2.57977167e-01 9.65722415e-01 -2.87749752e-02 1.18828086e+01] [ 1.15514686e-01 -1.26105128e-03 9.93304972e-01 1.68881251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44863999999998 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:189.03, Y:11.90, Z:16.90 [[ 9.59135720e-01 -2.59892992e-01 -1.11867347e-01 1.89026148e+02] [ 2.58292459e-01 9.65636618e-01 -2.88258018e-02 1.18976189e+01] [ 1.15514831e-01 -1.24663602e-03 9.93304973e-01 1.68965420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50863999999999 meters Centerline goodness : 0.998476 with order 1 Centerline is valid? [True, True] Translation: X:189.08, Y:11.92, Z:16.90 [[ 9.59141065e-01 -2.59878919e-01 -1.11854216e-01 1.89080641e+02] [ 2.58272360e-01 9.65640475e-01 -2.88766638e-02 1.19155940e+01] [ 1.15515395e-01 -1.19205832e-03 9.93304975e-01 1.69034541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56864 meters Centerline goodness : 0.998431 with order 1 Centerline is valid? [True, True] Translation: X:189.14, Y:11.94, Z:16.91 [[ 9.59956578e-01 -2.56856777e-01 -1.11839015e-01 1.89135065e+02] [ 2.55222910e-01 9.66449175e-01 -2.89354207e-02 1.19363334e+01] [ 1.15518983e-01 -7.67131429e-04 9.93304976e-01 1.69110826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62864 meters Centerline goodness : 0.998233 with order 1 Centerline is valid? [True, True] Translation: X:189.19, Y:11.95, Z:16.92 [[ 9.59867397e-01 -2.57195617e-01 -1.11825731e-01 1.89190136e+02] [ 2.55558072e-01 9.66359066e-01 -2.89866696e-02 1.19544933e+01] [ 1.15519053e-01 -7.54608975e-04 9.93304978e-01 1.69181820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68864 meters Centerline goodness : 0.991850 with order 1 Centerline is valid? [True, True] Translation: X:189.24, Y:11.97, Z:16.95 [[ 9.59080480e-01 -2.60120413e-01 -1.11812362e-01 1.89244622e+02] [ 2.58496662e-01 9.65575612e-01 -2.90381470e-02 1.19717214e+01] [ 1.15516705e-01 -1.05320241e-03 9.93304979e-01 1.69505294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74864 meters Centerline goodness : 0.998134 with order 1 Centerline is valid? [True, True] Translation: X:189.31, Y:11.99, Z:16.93 [[ 9.56958805e-01 -2.67822248e-01 -1.11808269e-01 1.89305409e+02] [ 2.66248926e-01 9.63466336e-01 -2.90538974e-02 1.19853923e+01] [ 1.15504783e-01 -1.96544860e-03 9.93304979e-01 1.69329136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80863999999997 meters Centerline goodness : 0.992828 with order 1 Centerline is valid? [True, True] Translation: X:189.36, Y:12.00, Z:16.96 [[ 9.55809903e-01 -2.71894474e-01 -1.11807085e-01 1.89361174e+02] [ 2.70348343e-01 9.62323948e-01 -2.90584518e-02 1.19976691e+01] [ 1.15495468e-01 -2.45250427e-03 9.93304979e-01 1.69624291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86863999999997 meters Centerline goodness : 0.998035 with order 1 Centerline is valid? [True, True] Translation: X:189.42, Y:12.01, Z:16.95 [[ 9.54992757e-01 -2.74751191e-01 -1.11806163e-01 1.89423348e+02] [ 2.73224128e-01 9.61511298e-01 -2.90619995e-02 1.20070810e+01] [ 1.15487708e-01 -2.79414250e-03 9.93304979e-01 1.69493466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92863999999997 meters Centerline goodness : 0.993669 with order 1 Centerline is valid? [True, True] Translation: X:189.48, Y:12.02, Z:16.98 [[ 9.54856666e-01 -2.75223779e-01 -1.11806163e-01 1.89479888e+02] [ 2.73699943e-01 9.61375963e-01 -2.90619995e-02 1.20159416e+01] [ 1.15486311e-01 -2.85129658e-03 9.93304979e-01 1.69800013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98863999999998 meters Centerline goodness : 0.994644 with order 1 Centerline is valid? [True, True] Translation: X:189.54, Y:12.03, Z:16.98 [[ 9.54003102e-01 -2.78169056e-01 -1.11803653e-01 1.89538362e+02] [ 2.76664214e-01 9.60526809e-01 -2.90716521e-02 1.20267820e+01] [ 1.15477240e-01 -3.19762368e-03 9.93304979e-01 1.69847670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04863999999998 meters Centerline goodness : 0.998282 with order 1 Centerline is valid? [True, True] Translation: X:189.60, Y:12.04, Z:16.97 [[ 9.51594727e-01 -2.86300251e-01 -1.11801795e-01 1.89598633e+02] [ 2.84850299e-01 9.58130853e-01 -2.90787956e-02 1.20363073e+01] [ 1.15446016e-01 -4.17554627e-03 9.93304979e-01 1.69730709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10863999999998 meters Centerline goodness : 0.995336 with order 1 Centerline is valid? [True, True] Translation: X:189.66, Y:12.04, Z:17.00 [[ 9.51674683e-01 -2.86039367e-01 -1.11788987e-01 1.89655563e+02] [ 2.84581856e-01 9.58209126e-01 -2.91279518e-02 1.20403187e+01] [ 1.15448969e-01 -4.09278325e-03 9.93304981e-01 1.69952375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16863999999998 meters Centerline goodness : 0.996953 with order 1 Centerline is valid? [True, True] Translation: X:189.71, Y:12.05, Z:17.00 [[ 9.52115639e-01 -2.84573839e-01 -1.11774508e-01 1.89713754e+02] [ 2.83099766e-01 9.58646364e-01 -2.91834088e-02 1.20479171e+01] [ 1.15457060e-01 -3.85735728e-03 9.93304982e-01 1.69998740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22863999999998 meters Centerline goodness : 0.998281 with order 1 Centerline is valid? [True, True] Translation: X:189.77, Y:12.05, Z:16.99 [[ 9.51326260e-01 -2.87206703e-01 -1.11761608e-01 1.89773172e+02] [ 2.85744917e-01 9.57859745e-01 -2.92327297e-02 1.20542537e+01] [ 1.15447781e-01 -4.12544788e-03 9.93304984e-01 1.69947078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28864 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:189.83, Y:12.06, Z:17.00 [[ 9.51042708e-01 -2.88149907e-01 -1.11747032e-01 1.89832001e+02] [ 2.86688074e-01 9.57576180e-01 -2.92883420e-02 1.20596324e+01] [ 1.15445729e-01 -4.18207731e-03 9.93304985e-01 1.70018357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34864 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:189.89, Y:12.06, Z:17.03 [[ 9.51944899e-01 -2.85160245e-01 -1.11734259e-01 1.89889208e+02] [ 2.83672186e-01 9.58472447e-01 -2.93369911e-02 1.20630926e+01] [ 1.15459952e-01 -3.76870251e-03 9.93304987e-01 1.70254492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:189.95, Y:12.07, Z:17.02 [[ 9.52963326e-01 -2.81743189e-01 -1.11721414e-01 1.89948482e+02] [ 2.80226001e-01 9.59484164e-01 -2.93858271e-02 1.20730099e+01] [ 1.15474184e-01 -3.30362955e-03 9.93304988e-01 1.70180690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.01, Y:12.08, Z:17.02 [[ 9.54782681e-01 -2.75519972e-01 -1.11708450e-01 1.90005834e+02] [ 2.73954520e-01 9.61292099e-01 -2.94350263e-02 1.20831720e+01] [ 1.15494388e-01 -2.49898160e-03 9.93304989e-01 1.70249384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.06, Y:12.10, Z:17.03 [[ 9.59194586e-01 -2.59750513e-01 -1.11693406e-01 1.90061520e+02] [ 2.58071382e-01 9.65675610e-01 -2.94920030e-02 1.20975018e+01] [ 1.15520161e-01 -5.36302142e-04 9.93304991e-01 1.70339122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58863999999997 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:190.12, Y:12.11, Z:17.05 [[ 9.61154113e-01 -2.52410035e-01 -1.11677867e-01 1.90116371e+02] [ 2.50674583e-01 9.67620281e-01 -2.95507286e-02 1.21135927e+01] [ 1.15520670e-01 4.08001539e-04 9.93304993e-01 1.70541060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:190.17, Y:12.14, Z:17.05 [[ 9.63039598e-01 -2.45124253e-01 -1.11663931e-01 1.90172022e+02] [ 2.43333790e-01 9.69490749e-01 -2.96032967e-02 1.21359055e+01] [ 1.15513634e-01 1.33753946e-03 9.93304994e-01 1.70474319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.23, Y:12.15, Z:17.05 [[ 9.63618590e-01 -2.42845630e-01 -1.11647718e-01 1.90227164e+02] [ 2.41032844e-01 9.70063501e-01 -2.96643171e-02 1.21549449e+01] [ 1.15509226e-01 1.67432040e-03 9.93304996e-01 1.70524229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.28, Y:12.18, Z:17.06 [[ 9.63296691e-01 -2.44126739e-01 -1.11631628e-01 1.90280261e+02] [ 2.42315522e-01 9.69742042e-01 -2.97247443e-02 1.21773962e+01] [ 1.15510488e-01 1.58367161e-03 9.93304998e-01 1.70597673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:190.34, Y:12.19, Z:17.07 [[ 9.63069696e-01 -2.45028062e-01 -1.11615456e-01 1.90335516e+02] [ 2.43215855e-01 9.69514766e-01 -2.97853468e-02 1.21935176e+01] [ 1.15511079e-01 1.53871632e-03 9.93305000e-01 1.70656443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.39, Y:12.21, Z:17.07 [[ 9.62516689e-01 -2.47198777e-01 -1.11599229e-01 1.90388988e+02] [ 2.45394070e-01 9.68963862e-01 -2.98460262e-02 1.22147840e+01] [ 1.15513521e-01 1.34150937e-03 9.93305002e-01 1.70717958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.44, Y:12.23, Z:17.08 [[ 9.61776060e-01 -2.50072107e-01 -1.11582933e-01 1.90443302e+02] [ 2.48279608e-01 9.68226636e-01 -2.99068248e-02 1.22337496e+01] [ 1.15516431e-01 1.05990112e-03 9.93305004e-01 1.70772379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.50, Y:12.25, Z:17.08 [[ 9.60736944e-01 -2.54042195e-01 -1.11566520e-01 1.90498199e+02] [ 2.52269257e-01 9.67192920e-01 -2.99679303e-02 1.22523924e+01] [ 1.15519467e-01 6.46494669e-04 9.93305006e-01 1.70820539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.55, Y:12.27, Z:17.09 [[ 9.60563636e-01 -2.54703810e-01 -1.11550300e-01 1.90554356e+02] [ 2.52928321e-01 9.67018910e-01 -3.00281870e-02 1.22703991e+01] [ 1.15519543e-01 6.29754534e-04 9.93305008e-01 1.70881865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:190.61, Y:12.29, Z:17.09 [[ 9.60550158e-01 -2.54760824e-01 -1.11536163e-01 1.90608727e+02] [ 2.52979631e-01 9.67003859e-01 -3.00806054e-02 1.22890691e+01] [ 1.15519260e-01 6.77552899e-04 9.93305009e-01 1.70943171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18864 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:190.66, Y:12.30, Z:17.12 [[ 9.59969868e-01 -2.56945831e-01 -1.11519924e-01 1.90663370e+02] [ 2.55172346e-01 9.66425689e-01 -3.01406918e-02 1.23045214e+01] [ 1.15520244e-01 4.77355388e-04 9.93305011e-01 1.71154213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:190.72, Y:12.32, Z:17.11 [[ 9.59663842e-01 -2.58092646e-01 -1.11505588e-01 1.90722219e+02] [ 2.56320724e-01 9.66120091e-01 -3.01936353e-02 1.23225781e+01] [ 1.15520544e-01 3.94547110e-04 9.93305013e-01 1.71071285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30863999999997 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:190.78, Y:12.33, Z:17.13 [[ 9.58128966e-01 -2.63734794e-01 -1.11502660e-01 1.90778781e+02] [ 2.61999634e-01 9.64595191e-01 -3.02044439e-02 1.23336361e+01] [ 1.15520892e-01 -2.73903460e-04 9.93305013e-01 1.71273483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.84, Y:12.35, Z:17.12 [[ 9.57395771e-01 -2.66385383e-01 -1.11499621e-01 1.90838517e+02] [ 2.64666818e-01 9.63866427e-01 -3.02156590e-02 1.23461285e+01] [ 1.15519751e-01 -5.81905663e-04 9.93305013e-01 1.71190964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.90, Y:12.36, Z:17.13 [[ 9.57675410e-01 -2.65379125e-01 -1.11497659e-01 1.90895499e+02] [ 2.63652919e-01 9.64144032e-01 -3.02228937e-02 1.23583664e+01] [ 1.15520328e-01 -4.52961269e-04 9.93305013e-01 1.71254385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:190.95, Y:12.37, Z:17.13 [[ 9.59097761e-01 -2.60197795e-01 -1.11483593e-01 1.90952136e+02] [ 2.58430622e-01 9.65555310e-01 -3.02746941e-02 1.23713851e+01] [ 1.15520983e-01 2.25617205e-04 9.93305014e-01 1.71313595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54863999999998 meters Centerline goodness : 0.998773 with order 1 Centerline is valid? [True, True] Translation: X:191.01, Y:12.38, Z:17.16 [[ 9.60488451e-01 -2.55019665e-01 -1.11476029e-01 1.91007004e+02] [ 2.53214450e-01 9.66935468e-01 -3.03025174e-02 1.23837548e+01] [ 1.15517865e-01 8.77876525e-04 9.93305015e-01 1.71561336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.07, Y:12.40, Z:17.15 [[ 9.61378661e-01 -2.51648809e-01 -1.11462759e-01 1.91065620e+02] [ 2.49815340e-01 9.67817698e-01 -3.03512519e-02 1.23990959e+01] [ 1.15513488e-01 1.33393884e-03 9.93305016e-01 1.71460753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:191.12, Y:12.41, Z:17.15 [[ 9.62314708e-01 -2.48051860e-01 -1.11448097e-01 1.91121488e+02] [ 2.46188101e-01 9.68745041e-01 -3.04049981e-02 1.24148287e+01] [ 1.15506807e-01 1.82198161e-03 9.93305018e-01 1.71528082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72863999999998 meters Centerline goodness : 0.996264 with order 1 Centerline is valid? [True, True] Translation: X:191.18, Y:12.43, Z:17.18 [[ 9.62821982e-01 -2.46082013e-01 -1.11433715e-01 1.91175111e+02] [ 2.44199011e-01 9.69246706e-01 -3.04576142e-02 1.24344398e+01] [ 1.15501833e-01 2.11325743e-03 9.93305019e-01 1.71805522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78864 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:191.23, Y:12.45, Z:17.17 [[ 9.63302531e-01 -2.44195051e-01 -1.11431643e-01 1.91234060e+02] [ 2.42298587e-01 9.69723294e-01 -3.04651935e-02 1.24524721e+01] [ 1.15497310e-01 2.34746826e-03 9.93305019e-01 1.71661449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84864 meters Centerline goodness : 0.995968 with order 1 Centerline is valid? [True, True] Translation: X:191.29, Y:12.47, Z:17.19 [[ 9.63096508e-01 -2.45007268e-01 -1.11429595e-01 1.91287276e+02] [ 2.43115354e-01 9.69518613e-01 -3.04726834e-02 1.24700108e+01] [ 1.15499095e-01 2.25788958e-03 9.93305019e-01 1.71919372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90864 meters Centerline goodness : 0.997640 with order 1 Centerline is valid? [True, True] Translation: X:191.34, Y:12.49, Z:17.20 [[ 9.62750331e-01 -2.46370636e-01 -1.11415033e-01 1.91343614e+02] [ 2.44481667e-01 9.69173301e-01 -3.05258349e-02 1.24863091e+01] [ 1.15501144e-01 2.14982477e-03 9.93305021e-01 1.71961272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96864 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:191.40, Y:12.51, Z:17.19 [[ 9.62765147e-01 -2.46319386e-01 -1.11400318e-01 1.91400663e+02] [ 2.44423875e-01 9.69186188e-01 -3.05794410e-02 1.25052427e+01] [ 1.15499959e-01 2.21192273e-03 9.93305022e-01 1.71869533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02864 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:191.46, Y:12.52, Z:17.19 [[ 9.62003402e-01 -2.49284322e-01 -1.11385736e-01 1.91457598e+02] [ 2.47402463e-01 9.68428455e-01 -3.06324641e-02 1.25201178e+01] [ 1.15505309e-01 1.91142920e-03 9.93305024e-01 1.71942641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08863999999997 meters Centerline goodness : 0.990166 with order 1 Centerline is valid? [True, True] Translation: X:191.51, Y:12.53, Z:17.23 [[ 9.60746924e-01 -2.54089732e-01 -1.11372153e-01 1.91512472e+02] [ 2.52234298e-01 9.67179657e-01 -3.06817688e-02 1.25337605e+01] [ 1.15512803e-01 1.38553809e-03 9.93305025e-01 1.72254050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14863999999997 meters Centerline goodness : 0.996417 with order 1 Centerline is valid? [True, True] Translation: X:191.57, Y:12.55, Z:17.23 [[ 9.60350737e-01 -2.55583436e-01 -1.11371312e-01 1.91572076e+02] [ 2.53737653e-01 9.66786246e-01 -3.06848208e-02 1.25461616e+01] [ 1.15514785e-01 1.20909483e-03 9.93305025e-01 1.72252079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20863999999997 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:191.63, Y:12.56, Z:17.21 [[ 9.60148766e-01 -2.56341466e-01 -1.11370549e-01 1.91631219e+02] [ 2.54500442e-01 9.66585638e-01 -3.06875919e-02 1.25578685e+01] [ 1.15515675e-01 1.12079956e-03 9.93305025e-01 1.72147481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26863999999998 meters Centerline goodness : 0.996077 with order 1 Centerline is valid? [True, True] Translation: X:191.69, Y:12.57, Z:17.24 [[ 9.59840800e-01 -2.57498634e-01 -1.11355698e-01 1.91686732e+02] [ 2.55659130e-01 9.66278105e-01 -3.07413876e-02 1.25687777e+01] [ 1.15516438e-01 1.03773728e-03 9.93305026e-01 1.72402211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32863999999998 meters Centerline goodness : 0.994798 with order 1 Centerline is valid? [True, True] Translation: X:191.74, Y:12.58, Z:17.25 [[ 9.60906337e-01 -2.53499831e-01 -1.11341127e-01 1.91742588e+02] [ 2.51627435e-01 9.67334151e-01 -3.07940726e-02 1.25838310e+01] [ 1.15510367e-01 1.57373740e-03 9.93305028e-01 1.72478405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38863999999998 meters Centerline goodness : 0.993129 with order 1 Centerline is valid? [True, True] Translation: X:191.80, Y:12.60, Z:17.26 [[ 9.62582409e-01 -2.47062744e-01 -1.11333316e-01 1.91798186e+02] [ 2.45144106e-01 9.68996571e-01 -3.08222879e-02 1.26028051e+01] [ 1.15496640e-01 2.37628604e-03 9.93305028e-01 1.72581336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44863999999998 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:191.86, Y:12.62, Z:17.24 [[ 9.64139331e-01 -2.40915888e-01 -1.11332317e-01 1.91856963e+02] [ 2.38955947e-01 9.70540993e-01 -3.08258954e-02 1.26236797e+01] [ 1.15479025e-01 3.11693911e-03 9.93305028e-01 1.72443174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50863999999999 meters Centerline goodness : 0.993809 with order 1 Centerline is valid? [True, True] Translation: X:191.91, Y:12.64, Z:17.27 [[ 9.64015490e-01 -2.41411430e-01 -1.11331294e-01 1.91909566e+02] [ 2.39454354e-01 9.70418028e-01 -3.08295870e-02 1.26448017e+01] [ 1.15480510e-01 3.06143627e-03 9.93305028e-01 1.72698072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56864 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:191.97, Y:12.66, Z:17.26 [[ 9.64520094e-01 -2.39394159e-01 -1.11316775e-01 1.91967421e+02] [ 2.37417658e-01 9.70916661e-01 -3.08819243e-02 1.26641002e+01] [ 1.15472264e-01 3.35766861e-03 9.93305030e-01 1.72570702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62864 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:192.02, Y:12.69, Z:17.26 [[ 9.63583920e-01 -2.43141616e-01 -1.11302218e-01 1.92021507e+02] [ 2.41183948e-01 9.69986274e-01 -3.09343000e-02 1.26862603e+01] [ 1.15483040e-01 2.96348566e-03 9.93305031e-01 1.72637742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68864 meters Centerline goodness : 0.989784 with order 1 Centerline is valid? [True, True] Translation: X:192.08, Y:12.71, Z:17.29 [[ 9.61377206e-01 -2.51732731e-01 -1.11285665e-01 1.92075173e+02] [ 2.49825409e-01 9.67794737e-01 -3.09937360e-02 1.27052725e+01] [ 1.15503819e-01 1.99468441e-03 9.93305033e-01 1.72929096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74864 meters Centerline goodness : 0.993872 with order 1 Centerline is valid? [True, True] Translation: X:192.13, Y:12.72, Z:17.30 [[ 9.60563610e-01 -2.54820102e-01 -1.11284617e-01 1.92131836e+02] [ 2.52932972e-01 9.66987108e-01 -3.09974993e-02 1.27234160e+01] [ 1.15509576e-01 1.62752093e-03 9.93305033e-01 1.72961428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80863999999997 meters Centerline goodness : 0.994900 with order 1 Centerline is valid? [True, True] Translation: X:192.19, Y:12.74, Z:17.30 [[ 9.59550289e-01 -2.58610569e-01 -1.11282598e-01 1.92187697e+02] [ 2.56747974e-01 9.65980944e-01 -3.10047447e-02 1.27425095e+01] [ 1.15515024e-01 1.17903008e-03 9.93305033e-01 1.72995156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86863999999997 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:192.25, Y:12.76, Z:17.29 [[ 9.58686366e-01 -2.61801177e-01 -1.11268120e-01 1.92245023e+02] [ 2.59953964e-01 9.65121455e-01 -3.10566189e-02 1.27595793e+01] [ 1.15517909e-01 8.48968292e-04 9.93305035e-01 1.72883651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92863999999997 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:192.30, Y:12.77, Z:17.29 [[ 9.56884701e-01 -2.68318427e-01 -1.11251475e-01 1.92302195e+02] [ 2.66508124e-01 9.63330268e-01 -3.11161322e-02 1.27733073e+01] [ 1.15520944e-01 1.25129040e-04 9.93305037e-01 1.72939273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98863999999998 meters Centerline goodness : 0.998232 with order 1 Centerline is valid? [True, True] Translation: X:192.36, Y:12.79, Z:17.32 [[ 9.55273138e-01 -2.74006587e-01 -1.11236783e-01 1.92357801e+02] [ 2.72228558e-01 9.61727681e-01 -3.11685655e-02 1.27878510e+01] [ 1.15519886e-01 -5.07335617e-04 9.93305038e-01 1.73153785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04863999999998 meters Centerline goodness : 0.997838 with order 1 Centerline is valid? [True, True] Translation: X:192.41, Y:12.80, Z:17.32 [[ 9.55402860e-01 -2.73554779e-01 -1.11234694e-01 1.92414299e+02] [ 2.71772830e-01 9.61856322e-01 -3.11760174e-02 1.28019376e+01] [ 1.15520143e-01 -4.44911430e-04 9.93305038e-01 1.73230660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:192.47, Y:12.82, Z:17.31 [[ 9.56558629e-01 -2.69491300e-01 -1.11220628e-01 1.92473325e+02] [ 2.67676111e-01 9.63002819e-01 -3.12261178e-02 1.28159839e+01] [ 1.15520946e-01 9.85072426e-05 9.93305039e-01 1.73148430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16863999999998 meters Centerline goodness : 0.995976 with order 1 Centerline is valid? [True, True] Translation: X:192.53, Y:12.83, Z:17.34 [[ 9.56446369e-01 -2.69894925e-01 -1.11207339e-01 1.92527513e+02] [ 2.68076959e-01 9.62889775e-01 -3.12733766e-02 1.28303352e+01] [ 1.15520935e-01 9.91823484e-05 9.93305041e-01 1.73417944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:192.59, Y:12.85, Z:17.33 [[ 9.58340571e-01 -2.63096041e-01 -1.11192729e-01 1.92585510e+02] [ 2.61226347e-01 9.64769156e-01 -3.13252373e-02 1.28479365e+01] [ 1.15516861e-01 9.73775497e-04 9.93305042e-01 1.73296185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28864 meters Centerline goodness : 0.997936 with order 1 Centerline is valid? [True, True] Translation: X:192.64, Y:12.87, Z:17.35 [[ 9.57245257e-01 -2.67059788e-01 -1.11178180e-01 1.92639000e+02] [ 2.65210727e-01 9.63679805e-01 -3.13767874e-02 1.28655706e+01] [ 1.15519645e-01 5.49634889e-04 9.93305044e-01 1.73549890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:192.70, Y:12.89, Z:17.34 [[ 9.58464140e-01 -2.62657913e-01 -1.11163454e-01 1.92695588e+02] [ 2.60773260e-01 9.64888352e-01 -3.14288760e-02 1.28865400e+01] [ 1.15515364e-01 1.13499445e-03 9.93305045e-01 1.73437370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40864 meters Centerline goodness : 0.998038 with order 1 Centerline is valid? [True, True] Translation: X:192.75, Y:12.91, Z:17.37 [[ 9.57044769e-01 -2.67789631e-01 -1.11148659e-01 1.92748939e+02] [ 2.65933360e-01 9.63477238e-01 -3.14811123e-02 1.29061544e+01] [ 1.15519518e-01 5.70697578e-04 9.93305046e-01 1.73696807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46864 meters Centerline goodness : 0.997940 with order 1 Centerline is valid? [True, True] Translation: X:192.80, Y:12.93, Z:17.38 [[ 9.56728720e-01 -2.68919974e-01 -1.11140473e-01 1.92803455e+02] [ 2.67067948e-01 9.63162412e-01 -3.15099847e-02 1.29275991e+01] [ 1.15519990e-01 4.64449262e-04 9.93305047e-01 1.73781903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:192.86, Y:12.95, Z:17.36 [[ 9.56848127e-01 -2.68500906e-01 -1.11125715e-01 1.92862264e+02] [ 2.66640028e-01 9.63279263e-01 -3.15619455e-02 1.29451446e+01] [ 1.15519508e-01 5.69424651e-04 9.93305048e-01 1.73631606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:192.92, Y:12.97, Z:17.37 [[ 9.57060593e-01 -2.67748709e-01 -1.11110983e-01 1.92915696e+02] [ 2.65876765e-01 9.63488515e-01 -3.16137247e-02 1.29666200e+01] [ 1.15518690e-01 7.14421439e-04 9.93305050e-01 1.73715650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64863999999997 meters Centerline goodness : 0.998083 with order 1 Centerline is valid? [True, True] Translation: X:192.97, Y:12.99, Z:17.40 [[ 9.57824265e-01 -2.65010879e-01 -1.11094152e-01 1.92967953e+02] [ 2.63113715e-01 9.64244787e-01 -3.16727593e-02 1.29865343e+01] [ 1.15515583e-01 1.10654223e-03 9.93305052e-01 1.73985675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:193.02, Y:13.01, Z:17.39 [[ 9.59187055e-01 -2.60041443e-01 -1.11079437e-01 1.93023936e+02] [ 2.58105051e-01 9.65595854e-01 -3.17242850e-02 1.30106609e+01] [ 1.15507473e-01 1.75935984e-03 9.93305053e-01 1.73850659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:193.08, Y:13.03, Z:17.39 [[ 9.59203654e-01 -2.59986649e-01 -1.11064362e-01 1.93078422e+02] [ 2.58043791e-01 9.65610494e-01 -3.17769742e-02 1.30345470e+01] [ 1.15506502e-01 1.82112069e-03 9.93305055e-01 1.73896622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.13, Y:13.06, Z:17.40 [[ 9.57917882e-01 -2.64691030e-01 -1.11049492e-01 1.93131524e+02] [ 2.62773624e-01 9.64332384e-01 -3.18288558e-02 1.30598703e+01] [ 1.15513434e-01 1.30855270e-03 9.93305056e-01 1.73966347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.19, Y:13.08, Z:17.40 [[ 9.56061009e-01 -2.71327606e-01 -1.11034579e-01 1.93186055e+02] [ 2.69448697e-01 9.62486891e-01 -3.18807957e-02 1.30820459e+01] [ 1.15519467e-01 5.61863096e-04 9.93305057e-01 1.74028330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94863999999998 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:193.24, Y:13.10, Z:17.43 [[ 9.53384934e-01 -2.80591925e-01 -1.11019546e-01 1.93237846e+02] [ 2.78769372e-01 9.59827025e-01 -3.19330604e-02 1.31029430e+01] [ 1.15519719e-01 -5.04350348e-04 9.93305059e-01 1.74275473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.30, Y:13.12, Z:17.41 [[ 9.50606908e-01 -2.89868126e-01 -1.11008898e-01 1.93296515e+02] [ 2.88104112e-01 9.57065273e-01 -3.19700324e-02 1.31188056e+01] [ 1.15509855e-01 -1.59118645e-03 9.93305060e-01 1.74147148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06864 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:193.35, Y:13.13, Z:17.44 [[ 9.47839016e-01 -2.98800293e-01 -1.10993628e-01 1.93350715e+02] [ 2.97090934e-01 9.54312060e-01 -3.20229602e-02 1.31327499e+01] [ 1.15491028e-01 -2.62258952e-03 9.93305061e-01 1.74409407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12864 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:193.41, Y:13.14, Z:17.44 [[ 9.45482301e-01 -3.06180989e-01 -1.10979373e-01 1.93408941e+02] [ 3.04516364e-01 9.51966991e-01 -3.20722890e-02 1.31426744e+01] [ 1.15468625e-01 -3.47125343e-03 9.93305062e-01 1.74427260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.47, Y:13.15, Z:17.43 [[ 9.42944936e-01 -3.13913308e-01 -1.10965231e-01 1.93469786e+02] [ 3.12296102e-01 9.49441613e-01 -3.21211417e-02 1.31542180e+01] [ 1.15438262e-01 -4.36554134e-03 9.93305064e-01 1.74335130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:193.53, Y:13.16, Z:17.44 [[ 9.41770161e-01 -3.17420699e-01 -1.10964243e-01 1.93528338e+02] [ 3.15827283e-01 9.48272714e-01 -3.21245558e-02 1.31594891e+01] [ 1.15421363e-01 -4.79158725e-03 9.93305064e-01 1.74400706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.59, Y:13.17, Z:17.45 [[ 9.42402148e-01 -3.15544870e-01 -1.10948758e-01 1.93586720e+02] [ 3.13932233e-01 9.48899959e-01 -3.21779468e-02 1.31662375e+01] [ 1.15432858e-01 -4.50582535e-03 9.93305065e-01 1.74470472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.65, Y:13.17, Z:17.45 [[ 9.43104520e-01 -3.13444842e-01 -1.10933296e-01 1.93645897e+02] [ 3.11811484e-01 9.49597152e-01 -3.22311645e-02 1.31712120e+01] [ 1.15444635e-01 -4.19291886e-03 9.93305067e-01 1.74534326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.70, Y:13.18, Z:17.46 [[ 9.44457535e-01 -3.09349025e-01 -1.10919545e-01 1.93704608e+02] [ 3.07681962e-01 9.50941593e-01 -3.22784183e-02 1.31793559e+01] [ 1.15463306e-01 -3.64234803e-03 9.93305068e-01 1.74613900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.76, Y:13.19, Z:17.47 [[ 9.46734639e-01 -3.02313469e-01 -1.10905769e-01 1.93761819e+02] [ 3.00592676e-01 9.53204644e-01 -3.23256842e-02 1.31889702e+01] [ 1.15488384e-01 -2.73361682e-03 9.93305069e-01 1.74687528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.82, Y:13.20, Z:17.48 [[ 9.48548862e-01 -2.96578072e-01 -1.10889603e-01 1.93818822e+02] [ 2.94811682e-01 9.55006566e-01 -3.23810454e-02 1.32033224e+01] [ 1.15503807e-01 -1.97654662e-03 9.93305071e-01 1.74759841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:193.88, Y:13.22, Z:17.48 [[ 9.51265323e-01 -2.87751604e-01 -1.10875153e-01 1.93875093e+02] [ 2.85919529e-01 9.57704698e-01 -3.24304478e-02 1.32184392e+01] [ 1.15517569e-01 -8.51411116e-04 9.93305072e-01 1.74820406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:193.93, Y:13.24, Z:17.49 [[ 9.51797736e-01 -2.85991295e-01 -1.10860492e-01 1.93930284e+02] [ 2.84141481e-01 9.58232037e-01 -3.24804880e-02 1.32364173e+01] [ 1.15519212e-01 -5.85209517e-04 9.93305074e-01 1.74877375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72863999999998 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:193.98, Y:13.26, Z:17.51 [[ 9.53555601e-01 -2.80081147e-01 -1.10843433e-01 1.93983521e+02] [ 2.78184697e-01 9.59976309e-01 -3.25386034e-02 1.32557479e+01] [ 1.15520519e-01 1.92420889e-04 9.93305075e-01 1.75125011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.04, Y:13.28, Z:17.50 [[ 9.54276822e-01 -2.77615188e-01 -1.10840224e-01 1.94039329e+02] [ 2.75700876e-01 9.60692227e-01 -3.25495298e-02 1.32796296e+01] [ 1.15519585e-01 5.02515014e-04 9.93305075e-01 1.75023428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:194.09, Y:13.30, Z:17.51 [[ 9.54045125e-01 -2.78416529e-01 -1.10824797e-01 1.94094290e+02] [ 2.76501514e-01 9.60460319e-01 -3.26019704e-02 1.32979460e+01] [ 1.15519748e-01 4.60526725e-04 9.93305077e-01 1.75084114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:194.15, Y:13.32, Z:17.51 [[ 9.52538602e-01 -2.83534697e-01 -1.10807430e-01 1.94148385e+02] [ 2.81647298e-01 9.58961973e-01 -3.26608926e-02 1.33203809e+01] [ 1.15520608e-01 -9.78522403e-05 9.93305079e-01 1.75145370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96864 meters Centerline goodness : 0.996715 with order 1 Centerline is valid? [True, True] Translation: X:194.20, Y:13.34, Z:17.54 [[ 9.51477242e-01 -2.87082134e-01 -1.10792179e-01 1.94201709e+02] [ 2.85212668e-01 9.57905853e-01 -3.27125448e-02 1.33351429e+01] [ 1.15519664e-01 -4.74091073e-04 9.93305080e-01 1.75422824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02864 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:194.26, Y:13.36, Z:17.53 [[ 9.52149588e-01 -2.84851080e-01 -1.10774657e-01 1.94258955e+02] [ 2.82959658e-01 9.58571772e-01 -3.27717756e-02 1.33557119e+01] [ 1.15520535e-01 -1.41126308e-04 9.93305082e-01 1.75253807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08863999999997 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:194.31, Y:13.37, Z:17.53 [[ 9.52923101e-01 -2.82258671e-01 -1.10759224e-01 1.94314384e+02] [ 2.80343725e-01 9.59338309e-01 -3.28238508e-02 1.33744249e+01] [ 1.15520383e-01 2.27952238e-04 9.93305084e-01 1.75323688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14863999999997 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:194.37, Y:13.39, Z:17.54 [[ 9.53306497e-01 -2.80967022e-01 -1.10744101e-01 1.94369787e+02] [ 2.79037465e-01 9.59717323e-01 -3.28747944e-02 1.33946788e+01] [ 1.15519766e-01 4.38001694e-04 9.93305085e-01 1.75377910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20863999999997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:194.42, Y:13.41, Z:17.54 [[ 9.52585329e-01 -2.83408367e-01 -1.10728899e-01 1.94424177e+02] [ 2.81489297e-01 9.58999301e-01 -3.29259216e-02 1.34127201e+01] [ 1.15520418e-01 1.95750024e-04 9.93305086e-01 1.75440066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26863999999998 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:194.48, Y:13.43, Z:17.55 [[ 9.51830225e-01 -2.85940869e-01 -1.10711527e-01 1.94479057e+02] [ 2.84032082e-01 9.58247263e-01 -3.29842314e-02 1.34311997e+01] [ 1.15520557e-01 -5.02369991e-05 9.93305088e-01 1.75507566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32863999999998 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:194.53, Y:13.45, Z:17.56 [[ 9.51275353e-01 -2.87783538e-01 -1.10706086e-01 1.94534702e+02] [ 2.85885057e-01 9.57695448e-01 -3.30024807e-02 1.34503106e+01] [ 1.15520286e-01 -2.54769417e-04 9.93305088e-01 1.75578870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38863999999998 meters Centerline goodness : 0.993110 with order 1 Centerline is valid? [True, True] Translation: X:194.59, Y:13.47, Z:17.59 [[ 9.50650028e-01 -2.89848348e-01 -1.10690825e-01 1.94587760e+02] [ 2.87957860e-01 9.57072480e-01 -3.30535904e-02 1.34658750e+01] [ 1.15519671e-01 -4.51896362e-04 9.93305090e-01 1.75897666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44863999999998 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:194.65, Y:13.48, Z:17.57 [[ 9.49831362e-01 -2.92525708e-01 -1.10675622e-01 1.94645469e+02] [ 2.90647400e-01 9.56257385e-01 -3.31044176e-02 1.34835851e+01] [ 1.15518274e-01 -7.23967695e-04 9.93305091e-01 1.75709936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50863999999999 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:194.70, Y:13.50, Z:17.58 [[ 9.49359451e-01 -2.94060311e-01 -1.10657881e-01 1.94701716e+02] [ 2.92185491e-01 9.55786489e-01 -3.31636134e-02 1.34997881e+01] [ 1.15517410e-01 -8.48437659e-04 9.93305093e-01 1.75777825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56864 meters Centerline goodness : 0.998234 with order 1 Centerline is valid? [True, True] Translation: X:194.76, Y:13.52, Z:17.59 [[ 9.49952214e-01 -2.92145525e-01 -1.10642590e-01 1.94756685e+02] [ 2.90251817e-01 9.56373712e-01 -3.32145522e-02 1.35178493e+01] [ 1.15519147e-01 -5.61975239e-04 9.93305095e-01 1.75853275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62864 meters Centerline goodness : 0.998771 with order 1 Centerline is valid? [True, True] Translation: X:194.81, Y:13.54, Z:17.59 [[ 9.50190151e-01 -2.91376543e-01 -1.10627243e-01 1.94811462e+02] [ 2.89471696e-01 9.56608351e-01 -3.32655903e-02 1.35387052e+01] [ 1.15519757e-01 -4.14819260e-04 9.93305096e-01 1.75916916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68864 meters Centerline goodness : 0.993396 with order 1 Centerline is valid? [True, True] Translation: X:194.87, Y:13.55, Z:17.62 [[ 9.48899886e-01 -2.95557048e-01 -1.10612106e-01 1.94865488e+02] [ 2.93674618e-01 9.55324695e-01 -3.33158466e-02 1.35549957e+01] [ 1.15517210e-01 -8.70564905e-04 9.93305097e-01 1.76185365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74864 meters Centerline goodness : 0.998282 with order 1 Centerline is valid? [True, True] Translation: X:194.92, Y:13.58, Z:17.61 [[ 9.47697785e-01 -2.99389969e-01 -1.10609919e-01 1.94923026e+02] [ 2.97532675e-01 9.54129906e-01 -3.33231076e-02 1.35755112e+01] [ 1.15512835e-01 -1.32982962e-03 9.93305097e-01 1.76054113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80863999999997 meters Centerline goodness : 0.998629 with order 1 Centerline is valid? [True, True] Translation: X:194.98, Y:13.59, Z:17.61 [[ 9.46592547e-01 -3.02867932e-01 -1.10605452e-01 1.94978202e+02] [ 3.01032538e-01 9.53030951e-01 -3.33379255e-02 1.35919533e+01] [ 1.15507408e-01 -1.73840813e-03 9.93305097e-01 1.76119014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86863999999997 meters Centerline goodness : 0.998284 with order 1 Centerline is valid? [True, True] Translation: X:195.04, Y:13.61, Z:17.62 [[ 9.45870796e-01 -3.05120784e-01 -1.10588174e-01 1.95035175e+02] [ 3.03294036e-01 9.52311657e-01 -3.33951437e-02 1.36060885e+01] [ 1.15503960e-01 -1.95324244e-03 9.93305099e-01 1.76202933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92863999999997 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:195.09, Y:13.62, Z:17.63 [[ 9.46339064e-01 -3.03670749e-01 -1.10573290e-01 1.95090376e+02] [ 3.01828383e-01 9.52775473e-01 -3.34443518e-02 1.36232419e+01] [ 1.15507590e-01 -1.72446090e-03 9.93305101e-01 1.76271976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98863999999998 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:195.15, Y:13.64, Z:17.63 [[ 9.46838785e-01 -3.02115207e-01 -1.10556399e-01 1.95145099e+02] [ 3.00255758e-01 9.53270278e-01 -3.35000987e-02 1.36407887e+01] [ 1.15511018e-01 -1.47600247e-03 9.93305102e-01 1.76333412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04863999999998 meters Centerline goodness : 0.994018 with order 1 Centerline is valid? [True, True] Translation: X:195.20, Y:13.66, Z:17.66 [[ 9.46393062e-01 -3.03514902e-01 -1.10539028e-01 1.95199425e+02] [ 3.01658283e-01 9.52825371e-01 -3.35573171e-02 1.36576201e+01] [ 1.15509537e-01 -1.58660143e-03 9.93305104e-01 1.76612603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10863999999998 meters Centerline goodness : 0.998527 with order 1 Centerline is valid? [True, True] Translation: X:195.26, Y:13.67, Z:17.65 [[ 9.45852145e-01 -3.05197174e-01 -1.10536894e-01 1.95257265e+02] [ 3.03351173e-01 9.52287509e-01 -3.35643470e-02 1.36748927e+01] [ 1.15506647e-01 -1.78458680e-03 9.93305104e-01 1.76487137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16863999999998 meters Centerline goodness : 0.998529 with order 1 Centerline is valid? [True, True] Translation: X:195.31, Y:13.69, Z:17.66 [[ 9.46063759e-01 -3.04546074e-01 -1.10521733e-01 1.95312357e+02] [ 3.02689822e-01 9.52496172e-01 -3.36141939e-02 1.36935117e+01] [ 1.15508599e-01 -1.65263314e-03 9.93305105e-01 1.76559189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22863999999998 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:195.37, Y:13.71, Z:17.66 [[ 9.46976753e-01 -3.01700718e-01 -1.10506588e-01 1.95367229e+02] [ 2.99819336e-01 9.53401860e-01 -3.36639125e-02 1.37118487e+01] [ 1.15513613e-01 -1.25306922e-03 9.93305107e-01 1.76636749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:195.42, Y:13.73, Z:17.67 [[ 9.47793572e-01 -2.99129909e-01 -1.10492728e-01 1.95421665e+02] [ 2.97225803e-01 9.54211980e-01 -3.37093420e-02 1.37325588e+01] [ 1.15516957e-01 -8.91792251e-04 9.93305108e-01 1.76691548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:195.48, Y:13.75, Z:17.68 [[ 9.47492825e-01 -3.00086859e-01 -1.10477256e-01 1.95476062e+02] [ 2.98183332e-01 9.53911403e-01 -3.37599729e-02 1.37494449e+01] [ 1.15516439e-01 -9.55144348e-04 9.93305109e-01 1.76776239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40864 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:195.53, Y:13.77, Z:17.70 [[ 9.46319327e-01 -3.03773573e-01 -1.10459709e-01 1.95530224e+02] [ 3.01888361e-01 9.52743307e-01 -3.38172910e-02 1.37692872e+01] [ 1.15512547e-01 -1.34454433e-03 9.93305111e-01 1.77006621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.59, Y:13.79, Z:17.69 [[ 9.45593076e-01 -3.06027169e-01 -1.10458619e-01 1.95589674e+02] [ 3.04156851e-01 9.52021407e-01 -3.38208500e-02 1.37861185e+01] [ 1.15509069e-01 -1.61598406e-03 9.93305111e-01 1.76906325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.65, Y:13.80, Z:17.70 [[ 9.45418051e-01 -3.06567855e-01 -1.10457498e-01 1.95646038e+02] [ 3.04700786e-01 9.51847327e-01 -3.38245102e-02 1.38024063e+01] [ 1.15508182e-01 -1.67818392e-03 9.93305111e-01 1.76988880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58863999999997 meters Centerline goodness : 0.997110 with order 1 Centerline is valid? [True, True] Translation: X:195.70, Y:13.82, Z:17.73 [[ 9.44735378e-01 -3.08670607e-01 -1.10442393e-01 1.95699251e+02] [ 3.06812091e-01 9.51167130e-01 -3.38737592e-02 1.38193636e+01] [ 1.15505008e-01 -1.88332285e-03 9.93305112e-01 1.77262341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:195.76, Y:13.83, Z:17.71 [[ 9.44289097e-01 -3.10038195e-01 -1.10428346e-01 1.95758946e+02] [ 3.08183647e-01 9.50721993e-01 -3.39194915e-02 1.38333382e+01] [ 1.15502995e-01 -2.00240442e-03 9.93305113e-01 1.77135111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.82, Y:13.85, Z:17.72 [[ 9.43655114e-01 -3.11967607e-01 -1.10413942e-01 1.95815978e+02] [ 3.10120735e-01 9.50090216e-01 -3.39663149e-02 1.38478126e+01] [ 1.15499596e-01 -2.18916605e-03 9.93305115e-01 1.77200552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.87, Y:13.86, Z:17.73 [[ 9.44065135e-01 -3.10729986e-01 -1.10398810e-01 1.95871646e+02] [ 3.08868935e-01 9.50496150e-01 -3.40154257e-02 1.38626541e+01] [ 1.15503257e-01 -1.98598554e-03 9.93305116e-01 1.77284707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82863999999998 meters Centerline goodness : 0.998186 with order 1 Centerline is valid? [True, True] Translation: X:195.92, Y:13.88, Z:17.76 [[ 9.46046826e-01 -3.04649471e-01 -1.10381623e-01 1.95923714e+02] [ 3.02740585e-01 9.52463804e-01 -3.40711089e-02 1.38820319e+01] [ 1.15514246e-01 -1.18413281e-03 9.93305118e-01 1.77558775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:195.98, Y:13.91, Z:17.74 [[ 9.48082993e-01 -2.98258153e-01 -1.10366266e-01 1.95979776e+02] [ 2.96300223e-01 9.54485175e-01 -3.41207843e-02 1.39058155e+01] [ 1.15519767e-01 -3.52213795e-04 9.93305119e-01 1.77438655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94863999999998 meters Centerline goodness : 0.996608 with order 1 Centerline is valid? [True, True] Translation: X:196.03, Y:13.93, Z:17.77 [[ 9.48939975e-01 -2.95526186e-01 -1.10350341e-01 1.96030965e+02] [ 2.93543843e-01 9.55334639e-01 -3.41722091e-02 1.39289483e+01] [ 1.15520286e-01 3.47120098e-05 9.93305120e-01 1.77703315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00863999999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:196.09, Y:13.95, Z:17.76 [[ 9.48381445e-01 -2.97319583e-01 -1.10334493e-01 1.96086810e+02] [ 2.95343388e-01 9.54778010e-01 -3.42233033e-02 1.39538617e+01] [ 1.15520206e-01 -1.29817154e-04 9.93305122e-01 1.77576787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06864 meters Centerline goodness : 0.997933 with order 1 Centerline is valid? [True, True] Translation: X:196.14, Y:13.97, Z:17.78 [[ 9.47521830e-01 -3.00053672e-01 -1.10318521e-01 1.96140277e+02] [ 2.98089948e-01 9.53922233e-01 -3.42747132e-02 1.39709299e+01] [ 1.15519543e-01 -4.08803123e-04 9.93305123e-01 1.77826199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.20, Y:13.99, Z:17.77 [[ 9.47728837e-01 -2.99400836e-01 -1.10314055e-01 1.96197084e+02] [ 2.97431031e-01 9.54127371e-01 -3.42890791e-02 1.39897115e+01] [ 1.15519839e-01 -3.14074090e-04 9.93305123e-01 1.77686430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18864 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:196.25, Y:14.01, Z:17.79 [[ 9.48054675e-01 -2.98374285e-01 -1.10295602e-01 1.96251168e+02] [ 2.96390658e-01 9.54448935e-01 -3.43483340e-02 1.40053311e+01] [ 1.15520180e-01 -1.26487568e-04 9.93305125e-01 1.77904945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24864 meters Centerline goodness : 0.998331 with order 1 Centerline is valid? [True, True] Translation: X:196.31, Y:14.02, Z:17.80 [[ 9.48191359e-01 -2.97941709e-01 -1.10290003e-01 1.96306506e+02] [ 2.95953074e-01 9.54584064e-01 -3.43663037e-02 1.40228307e+01] [ 1.15520235e-01 -5.48332803e-05 9.93305126e-01 1.77982021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.37, Y:14.04, Z:17.79 [[ 9.47988450e-01 -2.98588355e-01 -1.10285507e-01 1.96365717e+02] [ 2.96602403e-01 9.54381989e-01 -3.43807262e-02 1.40374070e+01] [ 1.15520186e-01 -1.18415021e-04 9.93305126e-01 1.77877496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:196.42, Y:14.06, Z:17.79 [[ 9.48225843e-01 -2.97839066e-01 -1.10270761e-01 1.96420284e+02] [ 2.95842569e-01 9.54616096e-01 -3.44279565e-02 1.40551082e+01] [ 1.15520234e-01 2.26928174e-05 9.93305127e-01 1.77939438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.48, Y:14.07, Z:17.80 [[ 9.48446060e-01 -2.97143793e-01 -1.10252606e-01 1.96475660e+02] [ 2.95135864e-01 9.54832728e-01 -3.44859981e-02 1.40735254e+01] [ 1.15520097e-01 1.68610800e-04 9.93305129e-01 1.78016796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.53, Y:14.09, Z:17.81 [[ 9.47770938e-01 -2.99296065e-01 -1.10236633e-01 1.96531003e+02] [ 2.97296708e-01 9.54160293e-01 -3.45369835e-02 1.40934426e+01] [ 1.15520201e-01 -3.98388710e-05 9.93305130e-01 1.78081047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.59, Y:14.11, Z:17.81 [[ 9.46973328e-01 -3.01816021e-01 -1.10220716e-01 1.96585819e+02] [ 2.99827763e-01 9.53366143e-01 -3.45877072e-02 1.41120578e+01] [ 1.15519823e-01 -2.93594429e-04 9.93305132e-01 1.78149677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:196.64, Y:14.14, Z:17.82 [[ 9.47007175e-01 -3.01716533e-01 -1.10202284e-01 1.96640071e+02] [ 2.99720780e-01 9.53397653e-01 -3.46463346e-02 1.41353551e+01] [ 1.15519971e-01 -2.19587140e-04 9.93305133e-01 1.78217486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:196.69, Y:14.16, Z:17.83 [[ 9.46389431e-01 -3.03650299e-01 -1.10197737e-01 1.96693979e+02] [ 3.01665921e-01 9.52783450e-01 -3.46607926e-02 1.41571421e+01] [ 1.15519340e-01 -4.40293974e-04 9.93305134e-01 1.78280880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.75, Y:14.18, Z:17.83 [[ 9.45490537e-01 -3.06439802e-01 -1.10192068e-01 1.96749327e+02] [ 3.04472189e-01 9.51889735e-01 -3.46788046e-02 1.41764888e+01] [ 1.15517665e-01 -7.61938589e-04 9.93305134e-01 1.78343525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.80, Y:14.20, Z:17.84 [[ 9.44859267e-01 -3.08382327e-01 -1.10187598e-01 1.96803556e+02] [ 3.06426213e-01 9.51261989e-01 -3.46930029e-02 1.41959669e+01] [ 1.15515982e-01 -9.84363013e-04 9.93305134e-01 1.78423533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.86, Y:14.22, Z:17.85 [[ 9.44521843e-01 -3.09416609e-01 -1.10180985e-01 1.96858538e+02] [ 3.07465058e-01 9.50925958e-01 -3.47139929e-02 1.42152942e+01] [ 1.15515044e-01 -1.08867828e-03 9.93305134e-01 1.78485931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.91, Y:14.23, Z:17.85 [[ 9.44921452e-01 -3.08195677e-01 -1.10176556e-01 1.96913580e+02] [ 3.06234213e-01 9.51322537e-01 -3.47280418e-02 1.42342487e+01] [ 1.15516474e-01 -9.24559305e-04 9.93305134e-01 1.78542533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:196.97, Y:14.25, Z:17.86 [[ 9.45554617e-01 -3.06249207e-01 -1.10172091e-01 1.96968431e+02] [ 3.04272916e-01 9.51951140e-01 -3.47422036e-02 1.42532270e+01] [ 1.15518220e-01 -6.71732281e-04 9.93305134e-01 1.78624758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.02, Y:14.27, Z:17.87 [[ 9.45670582e-01 -3.05892520e-01 -1.10167670e-01 1.97023790e+02] [ 3.03912184e-01 9.52065854e-01 -3.47562149e-02 1.42728298e+01] [ 1.15518543e-01 -6.13367288e-04 9.93305134e-01 1.78689536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08863999999997 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:197.08, Y:14.29, Z:17.90 [[ 9.44270140e-01 -3.10190219e-01 -1.10163202e-01 1.97077354e+02] [ 3.08237337e-01 9.50673848e-01 -3.47703729e-02 1.42918072e+01] [ 1.15514704e-01 -1.12378698e-03 9.93305134e-01 1.79005919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.14, Y:14.31, Z:17.88 [[ 9.42528868e-01 -3.15441989e-01 -1.10162083e-01 1.97137386e+02] [ 3.13524371e-01 9.48943225e-01 -3.47739164e-02 1.43074088e+01] [ 1.15506716e-01 -1.76307777e-03 9.93305134e-01 1.78825922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20863999999997 meters Centerline goodness : 0.998334 with order 1 Centerline is valid? [True, True] Translation: X:197.19, Y:14.32, Z:17.92 [[ 9.39164794e-01 -3.25321840e-01 -1.10159839e-01 1.97192353e+02] [ 3.23470851e-01 9.45598694e-01 -3.47810240e-02 1.43204387e+01] [ 1.15482027e-01 -2.96838364e-03 9.93305135e-01 1.79159665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.25, Y:14.34, Z:17.90 [[ 9.41000626e-01 -3.19973235e-01 -1.10158753e-01 1.97253029e+02] [ 3.18085267e-01 9.47423772e-01 -3.47844640e-02 1.43368644e+01] [ 1.15497119e-01 -2.30767398e-03 9.93305135e-01 1.78972665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32863999999998 meters Centerline goodness : 0.997355 with order 1 Centerline is valid? [True, True] Translation: X:197.31, Y:14.35, Z:17.93 [[ 9.40829428e-01 -3.20476639e-01 -1.10157662e-01 1.97307384e+02] [ 3.18591705e-01 9.47253465e-01 -3.47879193e-02 1.43493920e+01] [ 1.15495942e-01 -2.36581894e-03 9.93305135e-01 1.79286959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.37, Y:14.36, Z:17.91 [[ 9.42037952e-01 -3.16908104e-01 -1.10153305e-01 1.97369140e+02] [ 3.14997220e-01 9.48454318e-01 -3.48017087e-02 1.43577474e+01] [ 1.15504321e-01 -1.91345446e-03 9.93305135e-01 1.79090015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44863999999998 meters Centerline goodness : 0.996518 with order 1 Centerline is valid? [True, True] Translation: X:197.42, Y:14.37, Z:17.94 [[ 9.40936798e-01 -3.20164239e-01 -1.10149002e-01 1.97423269e+02] [ 3.18273964e-01 9.47359265e-01 -3.48153235e-02 1.43710868e+01] [ 1.15497299e-01 -2.29854044e-03 9.93305135e-01 1.79413938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50863999999999 meters Centerline goodness : 0.996666 with order 1 Centerline is valid? [True, True] Translation: X:197.48, Y:14.39, Z:17.95 [[ 9.42595005e-01 -3.15250419e-01 -1.10144590e-01 1.97479933e+02] [ 3.13325030e-01 9.49007032e-01 -3.48292750e-02 1.43868761e+01] [ 1.15507934e-01 -1.68115639e-03 9.93305135e-01 1.79468331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.54, Y:14.41, Z:17.93 [[ 9.45515749e-01 -3.06380698e-01 -1.10140079e-01 1.97538419e+02] [ 3.04393491e-01 9.51908888e-01 -3.48435343e-02 1.44059014e+01] [ 1.15518707e-01 -5.80812705e-04 9.93305135e-01 1.79293911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62864 meters Centerline goodness : 0.996913 with order 1 Centerline is valid? [True, True] Translation: X:197.59, Y:14.43, Z:17.96 [[ 9.47723871e-01 -2.99482259e-01 -1.10135558e-01 1.97590357e+02] [ 2.97446856e-01 9.54101829e-01 -3.48578199e-02 1.44257886e+01] [ 1.15519836e-01 2.76112645e-04 9.93305135e-01 1.79598676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:197.65, Y:14.45, Z:17.94 [[ 9.51150217e-01 -2.88417062e-01 -1.10131119e-01 1.97646734e+02] [ 2.86305845e-01 9.57503482e-01 -3.48718396e-02 1.44511797e+01] [ 1.15508563e-01 1.63717487e-03 9.93305135e-01 1.79448790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:197.70, Y:14.48, Z:17.95 [[ 9.51364029e-01 -2.87716668e-01 -1.10116316e-01 1.97698864e+02] [ 2.85595372e-01 9.57713935e-01 -3.49185190e-02 1.44790977e+01] [ 1.15506571e-01 1.77151261e-03 9.93305136e-01 1.79516431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:197.75, Y:14.50, Z:17.96 [[ 9.50453989e-01 -2.90714890e-01 -1.10100264e-01 1.97753170e+02] [ 2.88607772e-01 9.56808611e-01 -3.49690612e-02 1.45023561e+01] [ 1.15510907e-01 1.46069189e-03 9.93305138e-01 1.79583104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:197.81, Y:14.53, Z:17.97 [[ 9.49478665e-01 -2.93886383e-01 -1.10095678e-01 1.97807146e+02] [ 2.91798817e-01 9.55839738e-01 -3.49834920e-02 1.45268047e+01] [ 1.15514996e-01 1.09029053e-03 9.93305138e-01 1.79654045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92863999999997 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:197.86, Y:14.55, Z:17.97 [[ 9.48280268e-01 -2.97732219e-01 -1.10091136e-01 1.97861046e+02] [ 2.95668794e-01 9.54649213e-01 -3.49977801e-02 1.45497816e+01] [ 1.15518383e-01 6.37190827e-04 9.93305138e-01 1.79728058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98863999999998 meters Centerline goodness : 0.996226 with order 1 Centerline is valid? [True, True] Translation: X:197.91, Y:14.57, Z:18.00 [[ 9.46990630e-01 -3.01810680e-01 -1.10086607e-01 1.97912668e+02] [ 2.99773029e-01 9.53367867e-01 -3.50120217e-02 1.45706795e+01] [ 1.15520036e-01 1.55060920e-04 9.93305138e-01 1.80037044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04863999999998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:197.97, Y:14.59, Z:17.99 [[ 9.46696240e-01 -3.02734472e-01 -1.10082104e-01 1.97969299e+02] [ 3.00701398e-01 9.53074937e-01 -3.50261718e-02 1.45934992e+01] [ 1.15520124e-01 5.73024413e-05 9.93305138e-01 1.79882001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10863999999998 meters Centerline goodness : 0.996424 with order 1 Centerline is valid? [True, True] Translation: X:198.02, Y:14.61, Z:18.02 [[ 9.44712619e-01 -3.08870556e-01 -1.10077457e-01 1.98021596e+02] [ 3.06877211e-01 9.51103844e-01 -3.50407706e-02 1.46128335e+01] [ 1.15518155e-01 -6.76804955e-04 9.93305138e-01 1.80195312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:198.08, Y:14.63, Z:18.00 [[ 9.44756465e-01 -3.08738020e-01 -1.10072962e-01 1.98079604e+02] [ 3.06742135e-01 9.51146896e-01 -3.50548851e-02 1.46332292e+01] [ 1.15518332e-01 -6.45686059e-04 9.93305138e-01 1.80016607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22863999999998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:198.14, Y:14.65, Z:18.01 [[ 9.43729340e-01 -3.11865144e-01 -1.10068454e-01 1.98135677e+02] [ 3.09888782e-01 9.50125837e-01 -3.50690335e-02 1.46494424e+01] [ 1.15515692e-01 -1.01330345e-03 9.93305139e-01 1.80071124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:198.19, Y:14.67, Z:18.01 [[ 9.42845688e-01 -3.14528093e-01 -1.10064011e-01 1.98191955e+02] [ 3.12568170e-01 9.49247241e-01 -3.50829748e-02 1.46652881e+01] [ 1.15512540e-01 -1.32467488e-03 9.93305139e-01 1.80136352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34864 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:198.25, Y:14.68, Z:18.02 [[ 9.41738587e-01 -3.17829063e-01 -1.10059618e-01 1.98249521e+02] [ 3.15889968e-01 9.48146479e-01 -3.50967500e-02 1.46782955e+01] [ 1.15507406e-01 -1.71476537e-03 9.93305139e-01 1.80200748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40864 meters Centerline goodness : 0.996373 with order 1 Centerline is valid? [True, True] Translation: X:198.31, Y:14.69, Z:18.05 [[ 9.40834639e-01 -3.20496538e-01 -1.10055219e-01 1.98305345e+02] [ 3.18573998e-01 9.47247517e-01 -3.51105373e-02 1.46886190e+01] [ 1.15502339e-01 -2.02752161e-03 9.93305139e-01 1.80482675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:198.36, Y:14.70, Z:18.03 [[ 9.42049448e-01 -3.16908767e-01 -1.10053037e-01 1.98364486e+02] [ 3.14961003e-01 9.48454710e-01 -3.51173752e-02 1.47020526e+01] [ 1.15509326e-01 -1.58011111e-03 9.93305139e-01 1.80331304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52863999999997 meters Centerline goodness : 0.996425 with order 1 Centerline is valid? [True, True] Translation: X:198.42, Y:14.72, Z:18.06 [[ 9.41856795e-01 -3.17482813e-01 -1.10047447e-01 1.98418336e+02] [ 3.15536907e-01 9.48262622e-01 -3.51348858e-02 1.47173090e+01] [ 1.15508603e-01 -1.63200011e-03 9.93305139e-01 1.80616979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58863999999997 meters Centerline goodness : 0.996427 with order 1 Centerline is valid? [True, True] Translation: X:198.47, Y:14.74, Z:18.07 [[ 9.41920030e-01 -3.17296308e-01 -1.10044130e-01 1.98473759e+02] [ 3.15347921e-01 9.48325102e-01 -3.51452721e-02 1.47361192e+01] [ 1.15509076e-01 -1.59815176e-03 9.93305139e-01 1.80670251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64863999999997 meters Centerline goodness : 0.997302 with order 1 Centerline is valid? [True, True] Translation: X:198.53, Y:14.76, Z:18.07 [[ 9.40749030e-01 -3.20753107e-01 -1.10039574e-01 1.98528799e+02] [ 3.18826586e-01 9.47160713e-01 -3.51595319e-02 1.47551224e+01] [ 1.15502690e-01 -2.00724608e-03 9.93305139e-01 1.80749921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70863999999997 meters Centerline goodness : 0.996912 with order 1 Centerline is valid? [True, True] Translation: X:198.58, Y:14.77, Z:18.08 [[ 9.40262145e-01 -3.22179121e-01 -1.10035053e-01 1.98584433e+02] [ 3.20260669e-01 9.46676247e-01 -3.51736734e-02 1.47717713e+01] [ 1.15499794e-01 -2.16742616e-03 9.93305139e-01 1.80822458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76863999999998 meters Centerline goodness : 0.997011 with order 1 Centerline is valid? [True, True] Translation: X:198.64, Y:14.79, Z:18.09 [[ 9.38879236e-01 -3.26188675e-01 -1.10030578e-01 1.98640615e+02] [ 3.24295974e-01 9.45300984e-01 -3.51876673e-02 1.47879675e+01] [ 1.15489832e-01 -2.64550314e-03 9.93305139e-01 1.80887673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:198.70, Y:14.80, Z:18.07 [[ 9.38324419e-01 -3.27782758e-01 -1.10026122e-01 1.98701166e+02] [ 3.25899334e-01 9.44748894e-01 -3.52015935e-02 1.48005457e+01] [ 1.15485533e-01 -2.82692519e-03 9.93305140e-01 1.80721898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88863999999998 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:198.76, Y:14.81, Z:18.08 [[ 9.38372471e-01 -3.27647318e-01 -1.10019732e-01 1.98758976e+02] [ 3.25760628e-01 9.44795986e-01 -3.52215537e-02 1.48124019e+01] [ 1.15486449e-01 -2.78916073e-03 9.93305140e-01 1.80779631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94863999999998 meters Centerline goodness : 0.997250 with order 1 Centerline is valid? [True, True] Translation: X:198.82, Y:14.82, Z:18.11 [[ 9.38379290e-01 -3.27629236e-01 -1.10015417e-01 1.98815234e+02] [ 3.25740843e-01 9.44802305e-01 -3.52350279e-02 1.48232657e+01] [ 1.15486845e-01 -2.77269424e-03 9.93305140e-01 1.81062224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00863999999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:198.87, Y:14.84, Z:18.09 [[ 9.39801692e-01 -3.23526858e-01 -1.10014325e-01 1.98874473e+02] [ 3.21610026e-01 9.46216277e-01 -3.52384367e-02 1.48362059e+01] [ 1.15497926e-01 -2.26456756e-03 9.93305140e-01 1.80934040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06864 meters Centerline goodness : 0.996714 with order 1 Centerline is valid? [True, True] Translation: X:198.93, Y:14.85, Z:18.12 [[ 9.38838951e-01 -3.26311603e-01 -1.10009827e-01 1.98929392e+02] [ 3.24412153e-01 9.45258705e-01 -3.52524723e-02 1.48493811e+01] [ 1.15491038e-01 -2.59213081e-03 9.93305140e-01 1.81212206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:198.99, Y:14.86, Z:18.11 [[ 9.39284630e-01 -3.25029484e-01 -1.10000991e-01 1.98988226e+02] [ 3.23118045e-01 9.45700824e-01 -3.52800252e-02 1.48643741e+01] [ 1.15495076e-01 -2.40531957e-03 9.93305140e-01 1.81072400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18864 meters Centerline goodness : 0.996368 with order 1 Centerline is valid? [True, True] Translation: X:199.04, Y:14.88, Z:18.13 [[ 9.37030714e-01 -3.31472809e-01 -1.09996446e-01 1.99043245e+02] [ 3.29603820e-01 9.43459401e-01 -3.52941882e-02 1.48768986e+01] [ 1.15476245e-01 -3.18351048e-03 9.93305140e-01 1.81347927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.10, Y:14.89, Z:18.12 [[ 9.36014324e-01 -3.34333202e-01 -1.09993158e-01 1.99101965e+02] [ 3.32482654e-01 9.42448344e-01 -3.53044324e-02 1.48903841e+01] [ 1.15466314e-01 -3.52536267e-03 9.93305141e-01 1.81201888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:199.16, Y:14.90, Z:18.13 [[ 9.33982526e-01 -3.39970040e-01 -1.09986418e-01 1.99159388e+02] [ 3.38155847e-01 9.40426892e-01 -3.53254165e-02 1.49015386e+01] [ 1.15443769e-01 -4.19922868e-03 9.93305141e-01 1.81269537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36863999999997 meters Centerline goodness : 0.998036 with order 1 Centerline is valid? [True, True] Translation: X:199.21, Y:14.91, Z:18.15 [[ 9.33386108e-01 -3.41605479e-01 -1.09982137e-01 1.99214893e+02] [ 3.39801009e-01 9.39833202e-01 -3.53387414e-02 1.49123219e+01] [ 1.15436772e-01 -4.38735076e-03 9.93305141e-01 1.81539239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.28, Y:14.92, Z:18.14 [[ 9.34642923e-01 -3.38153036e-01 -1.09977864e-01 1.99275051e+02] [ 3.36323185e-01 9.41082860e-01 -3.53520352e-02 1.49238532e+01] [ 1.15452681e-01 -3.94657582e-03 9.93305141e-01 1.81417466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:199.33, Y:14.94, Z:18.15 [[ 9.35668015e-01 -3.35307611e-01 -1.09973506e-01 1.99332228e+02] [ 3.33456582e-01 9.42101896e-01 -3.53655868e-02 1.49367223e+01] [ 1.15464599e-01 -3.58094099e-03 9.93305141e-01 1.81484911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.39, Y:14.95, Z:18.15 [[ 9.37307236e-01 -3.30699145e-01 -1.09969184e-01 1.99389728e+02] [ 3.28814903e-01 9.43731468e-01 -3.53790218e-02 1.49462115e+01] [ 1.15481191e-01 -2.99849326e-03 9.93305141e-01 1.81546008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.45, Y:14.96, Z:18.16 [[ 9.38573572e-01 -3.27093708e-01 -1.09951603e-01 1.99446850e+02] [ 3.25178398e-01 9.44988609e-01 -3.54335744e-02 1.49590171e+01] [ 1.15493112e-01 -2.49686969e-03 9.93305143e-01 1.81618038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.50, Y:14.97, Z:18.17 [[ 9.40211169e-01 -3.22361584e-01 -1.09936197e-01 1.99502853e+02] [ 3.20408402e-01 9.46614775e-01 -3.54813093e-02 1.49723900e+01] [ 1.15505040e-01 -1.86455806e-03 9.93305144e-01 1.81678605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:199.56, Y:14.98, Z:18.17 [[ 9.40991755e-01 -3.20082061e-01 -1.09918113e-01 1.99559617e+02] [ 3.18106832e-01 9.47388594e-01 -3.55372450e-02 1.49846511e+01] [ 1.15510001e-01 -1.52544819e-03 9.93305146e-01 1.81738516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78864 meters Centerline goodness : 0.998477 with order 1 Centerline is valid? [True, True] Translation: X:199.61, Y:15.00, Z:18.20 [[ 9.41700757e-01 -3.17996449e-01 -1.09899697e-01 1.99613866e+02] [ 3.16000417e-01 9.48091133e-01 -3.55941070e-02 1.50000195e+01] [ 1.15513728e-01 -1.20935255e-03 9.93305148e-01 1.82019750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:199.67, Y:15.02, Z:18.19 [[ 9.43569552e-01 -3.12413355e-01 -1.09883556e-01 1.99670747e+02] [ 3.10373714e-01 9.49946142e-01 -3.56438682e-02 1.50227682e+01] [ 1.15519080e-01 -4.72498535e-04 9.93305149e-01 1.81895374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90864 meters Centerline goodness : 0.997695 with order 1 Centerline is valid? [True, True] Translation: X:199.72, Y:15.05, Z:18.22 [[ 9.45016938e-01 -3.08010583e-01 -1.09874781e-01 1.99722185e+02] [ 3.05938091e-01 9.51382926e-01 -3.56708957e-02 1.50459802e+01] [ 1.15520004e-01 9.47197680e-05 9.93305149e-01 1.82190124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96864 meters Centerline goodness : 0.998431 with order 1 Centerline is valid? [True, True] Translation: X:199.78, Y:15.07, Z:18.22 [[ 9.45732866e-01 -3.05810793e-01 -1.09859477e-01 1.99776634e+02] [ 3.03718025e-01 9.52092216e-01 -3.57179680e-02 1.50698473e+01] [ 1.15519293e-01 4.13352821e-04 9.93305151e-01 1.82236198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02863999999997 meters Centerline goodness : 0.997892 with order 1 Centerline is valid? [True, True] Translation: X:199.83, Y:15.10, Z:18.23 [[ 9.45745122e-01 -3.05774154e-01 -1.09855955e-01 1.99828381e+02] [ 3.03679881e-01 9.52103977e-01 -3.57287973e-02 1.50959329e+01] [ 1.15519234e-01 4.29292428e-04 9.93305151e-01 1.82301008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08863999999997 meters Centerline goodness : 0.998136 with order 1 Centerline is valid? [True, True] Translation: X:199.88, Y:15.12, Z:18.24 [[ 9.45879001e-01 -3.05366691e-01 -1.09836695e-01 1.99881363e+02] [ 3.03262815e-01 9.52234682e-01 -3.57879086e-02 1.51224714e+01] [ 1.15518746e-01 5.41645843e-04 9.93305153e-01 1.82358860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14863999999997 meters Centerline goodness : 0.997643 with order 1 Centerline is valid? [True, True] Translation: X:199.94, Y:15.14, Z:18.24 [[ 9.45263209e-01 -3.07273601e-01 -1.09819852e-01 1.99935876e+02] [ 3.05176550e-01 9.51621144e-01 -3.58395204e-02 1.51421089e+01] [ 1.15519432e-01 3.63336489e-04 9.93305154e-01 1.82427935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:199.99, Y:15.16, Z:18.23 [[ 9.43257143e-01 -3.13384453e-01 -1.09800483e-01 1.99993150e+02] [ 3.11321694e-01 9.49626285e-01 -3.58987634e-02 1.51631843e+01] [ 1.15519539e-01 -3.21507396e-04 9.93305156e-01 1.82280460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:200.05, Y:15.18, Z:18.23 [[ 9.42067996e-01 -3.16947130e-01 -1.09783457e-01 2.00048966e+02] [ 3.14902399e-01 9.48442946e-01 -3.59507554e-02 1.51793504e+01] [ 1.15517834e-01 -7.03017919e-04 9.93305157e-01 1.82342555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:200.10, Y:15.20, Z:18.24 [[ 9.40972337e-01 -3.20190959e-01 -1.09767074e-01 2.00103177e+02] [ 3.18162376e-01 9.47352443e-01 -3.60007091e-02 1.51980938e+01] [ 1.15515207e-01 -1.04808166e-03 9.93305159e-01 1.82417971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:200.16, Y:15.21, Z:18.25 [[ 9.40563136e-01 -3.21397416e-01 -1.09748292e-01 2.00159177e+02] [ 3.19370346e-01 9.46943721e-01 -3.60578758e-02 1.52130271e+01] [ 1.15514364e-01 -1.13564120e-03 9.93305161e-01 1.82484352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.21, Y:15.23, Z:18.25 [[ 9.39682652e-01 -3.23969001e-01 -1.09729665e-01 2.00214732e+02] [ 3.21952784e-01 9.46066673e-01 -3.61144736e-02 1.52297598e+01] [ 1.15511549e-01 -1.39162668e-03 9.93305162e-01 1.82547517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50863999999999 meters Centerline goodness : 0.997446 with order 1 Centerline is valid? [True, True] Translation: X:200.27, Y:15.24, Z:18.28 [[ 9.39136140e-01 -3.25555333e-01 -1.09713427e-01 2.00269807e+02] [ 3.23544145e-01 9.45521745e-01 -3.61637350e-02 1.52423059e+01] [ 1.15509728e-01 -1.53446652e-03 9.93305164e-01 1.82843605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:200.33, Y:15.26, Z:18.27 [[ 9.39166498e-01 -3.25472845e-01 -1.09698297e-01 2.00328410e+02] [ 3.23455742e-01 9.45550236e-01 -3.62095741e-02 1.52593433e+01] [ 1.15510483e-01 -1.47572510e-03 9.93305165e-01 1.82700209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62864 meters Centerline goodness : 0.997401 with order 1 Centerline is valid? [True, True] Translation: X:200.38, Y:15.27, Z:18.30 [[ 9.39704871e-01 -3.23920692e-01 -1.09681997e-01 2.00382704e+02] [ 3.21887290e-01 9.46083435e-01 -3.62588809e-02 1.52740471e+01] [ 1.15513322e-01 -1.23259377e-03 9.93305166e-01 1.82982129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.44, Y:15.29, Z:18.28 [[ 9.40592801e-01 -3.21338828e-01 -1.09665581e-01 2.00440536e+02] [ 3.19282136e-01 9.46963892e-01 -3.63084629e-02 1.52919018e+01] [ 1.15516665e-01 -8.62782208e-04 9.93305168e-01 1.82839037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.50, Y:15.31, Z:18.29 [[ 9.41058370e-01 -3.19978544e-01 -1.09648877e-01 2.00495390e+02] [ 3.17906772e-01 9.47424572e-01 -3.63588393e-02 1.53083356e+01] [ 1.15518089e-01 -6.42330498e-04 9.93305169e-01 1.82915236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:200.55, Y:15.32, Z:18.30 [[ 9.40916279e-01 -3.20402626e-01 -1.09629887e-01 2.00551341e+02] [ 3.18327063e-01 9.47281244e-01 -3.64160082e-02 1.53237335e+01] [ 1.15518121e-01 -6.33745030e-04 9.93305171e-01 1.82985975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:200.61, Y:15.34, Z:18.31 [[ 9.40771872e-01 -3.20832081e-01 -1.09613230e-01 2.00606961e+02] [ 3.18753589e-01 9.47135880e-01 -3.64660777e-02 1.53425207e+01] [ 1.15518111e-01 -6.33350469e-04 9.93305172e-01 1.83072002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:200.66, Y:15.36, Z:18.31 [[ 9.40693638e-01 -3.21066706e-01 -1.09597669e-01 2.00662394e+02] [ 3.18984360e-01 9.47056384e-01 -3.65127862e-02 1.53596194e+01] [ 1.15518212e-01 -6.12596745e-04 9.93305173e-01 1.83128130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.72, Y:15.38, Z:18.32 [[ 9.40856492e-01 -3.20595738e-01 -1.09578439e-01 2.00717030e+02] [ 3.18503494e-01 9.47215989e-01 -3.65704078e-02 1.53791884e+01] [ 1.15518766e-01 -4.93610124e-04 9.93305175e-01 1.83202613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:200.77, Y:15.40, Z:18.33 [[ 9.41224982e-01 -3.19518012e-01 -1.09561733e-01 2.00771829e+02] [ 3.17412668e-01 9.47580152e-01 -3.66203914e-02 1.53996592e+01] [ 1.15519398e-01 -3.08254629e-04 9.93305177e-01 1.83265407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.83, Y:15.42, Z:18.33 [[ 9.40335054e-01 -3.22133389e-01 -1.09544815e-01 2.00825830e+02] [ 3.20039833e-01 9.46694115e-01 -3.66709301e-02 1.54202799e+01] [ 1.15518362e-01 -5.75743113e-04 9.93305178e-01 1.83337656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:200.88, Y:15.44, Z:18.34 [[ 9.39481545e-01 -3.24620671e-01 -1.09525549e-01 2.00881183e+02] [ 3.22537253e-01 9.45843934e-01 -3.67283807e-02 1.54391156e+01] [ 1.15516868e-01 -8.20433912e-04 9.93305180e-01 1.83412355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:200.94, Y:15.46, Z:18.35 [[ 9.38289028e-01 -3.28057222e-01 -1.09508715e-01 2.00936174e+02] [ 3.25991256e-01 9.44657103e-01 -3.67785060e-02 1.54578441e+01] [ 1.15513640e-01 -1.19001479e-03 9.93305181e-01 1.83477697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:200.99, Y:15.47, Z:18.35 [[ 9.37063499e-01 -3.31547114e-01 -1.09492058e-01 2.00992569e+02] [ 3.29499077e-01 9.43437361e-01 -3.68280296e-02 1.54737347e+01] [ 1.15509125e-01 -1.56732964e-03 9.93305182e-01 1.83540362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:201.05, Y:15.49, Z:18.36 [[ 9.36153049e-01 -3.34114614e-01 -1.09475540e-01 2.01050029e+02] [ 3.32078324e-01 9.42530673e-01 -3.68770649e-02 1.54877878e+01] [ 1.15505221e-01 -1.83187719e-03 9.93305184e-01 1.83598762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.11, Y:15.50, Z:18.37 [[ 9.36716965e-01 -3.32535430e-01 -1.09460106e-01 2.01106714e+02] [ 3.30483041e-01 9.43089426e-01 -3.69228216e-02 1.55033410e+01] [ 1.15508815e-01 -1.58847520e-03 9.93305185e-01 1.83676331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.16, Y:15.52, Z:18.37 [[ 9.37064386e-01 -3.31560605e-01 -1.09443606e-01 2.01161954e+02] [ 3.29495883e-01 9.43432859e-01 -3.69716642e-02 1.55207116e+01] [ 1.15511042e-01 -1.41638775e-03 9.93305186e-01 1.83746503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:201.22, Y:15.54, Z:18.38 [[ 9.37734763e-01 -3.29666211e-01 -1.09424422e-01 2.01216973e+02] [ 3.27582007e-01 9.44096885e-01 -3.70283566e-02 1.55394358e+01] [ 1.15514254e-01 -1.12269466e-03 9.93305188e-01 1.83806901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.27, Y:15.56, Z:18.39 [[ 9.39163409e-01 -3.25579562e-01 -1.09407679e-01 2.01270565e+02] [ 3.23461918e-01 9.45514478e-01 -3.70777610e-02 1.55620598e+01] [ 1.15518306e-01 -5.67141392e-04 9.93305189e-01 1.83878644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.32, Y:15.59, Z:18.39 [[ 9.40881251e-01 -3.20587159e-01 -1.09390790e-01 2.01323992e+02] [ 3.18430029e-01 9.47219016e-01 -3.71275231e-02 1.55879893e+01] [ 1.15519644e-01 9.92779232e-05 9.93305191e-01 1.83940110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70863999999997 meters Centerline goodness : 0.997740 with order 1 Centerline is valid? [True, True] Translation: X:201.38, Y:15.61, Z:18.42 [[ 9.41262315e-01 -3.19472056e-01 -1.09374856e-01 2.01375444e+02] [ 3.17301969e-01 9.47595654e-01 -3.71744059e-02 1.56146169e+01] [ 1.15519322e-01 2.86010293e-04 9.93305192e-01 1.84199995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76863999999998 meters Centerline goodness : 0.997788 with order 1 Centerline is valid? [True, True] Translation: X:201.43, Y:15.64, Z:18.43 [[ 9.40822102e-01 -3.20766967e-01 -1.09372413e-01 2.01428390e+02] [ 3.18604762e-01 9.47158136e-01 -3.71815912e-02 1.56411123e+01] [ 1.15519597e-01 1.34691232e-04 9.93305192e-01 1.84288098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82863999999998 meters Centerline goodness : 0.998579 with order 1 Centerline is valid? [True, True] Translation: X:201.48, Y:15.67, Z:18.43 [[ 9.39524095e-01 -3.24554617e-01 -1.09356183e-01 2.01482145e+02] [ 3.22412406e-01 9.45866916e-01 -3.72292642e-02 1.56662390e+01] [ 1.15519325e-01 -2.79999394e-04 9.93305193e-01 1.84327440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.54, Y:15.69, Z:18.42 [[ 9.39971752e-01 -3.23257522e-01 -1.09351177e-01 2.01537241e+02] [ 3.21104848e-01 9.46311029e-01 -3.72439630e-02 1.56940818e+01] [ 1.15519616e-01 -1.04919981e-04 9.93305193e-01 1.84190164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94863999999998 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:201.59, Y:15.72, Z:18.44 [[ 9.39430282e-01 -3.24828956e-01 -1.09347586e-01 2.01590247e+02] [ 3.22685660e-01 9.45772735e-01 -3.72545040e-02 1.57164282e+01] [ 1.15519307e-01 -2.86888719e-04 9.93305193e-01 1.84444731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:201.65, Y:15.74, Z:18.43 [[ 9.37692048e-01 -3.29813974e-01 -1.09345169e-01 2.01647558e+02] [ 3.27703568e-01 9.44045521e-01 -3.72615950e-02 1.57389193e+01] [ 1.15516212e-01 -8.92900866e-04 9.93305194e-01 1.84317503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06864 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:201.70, Y:15.76, Z:18.46 [[ 9.35270013e-01 -3.36621701e-01 -1.09342735e-01 2.01701350e+02] [ 3.34556702e-01 9.41638388e-01 -3.72687386e-02 1.57597471e+01] [ 1.15506783e-01 -1.72501106e-03 9.93305194e-01 1.84584501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12864 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:201.76, Y:15.78, Z:18.46 [[ 9.32778037e-01 -3.43466966e-01 -1.09341557e-01 2.01756087e+02] [ 3.41448289e-01 9.39161248e-01 -3.72721930e-02 1.57800687e+01] [ 1.15491120e-01 -2.56780456e-03 9.93305194e-01 1.84634886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18864 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:201.81, Y:15.80, Z:18.47 [[ 9.31397936e-01 -3.47193533e-01 -1.09336795e-01 2.01810634e+02] [ 3.45198754e-01 9.37788656e-01 -3.72861557e-02 1.58008826e+01] [ 1.15480319e-01 -3.01467713e-03 9.93305194e-01 1.84709848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:201.87, Y:15.82, Z:18.46 [[ 9.29154314e-01 -3.53155437e-01 -1.09332052e-01 2.01869551e+02] [ 3.51200021e-01 9.35557187e-01 -3.73000608e-02 1.58189790e+01] [ 1.15459106e-01 -3.73990642e-03 9.93305194e-01 1.84574554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30863999999997 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:201.93, Y:15.83, Z:18.49 [[ 9.27155252e-01 -3.58371531e-01 -1.09329709e-01 2.01925664e+02] [ 3.56451321e-01 9.33568770e-01 -3.73069247e-02 1.58308077e+01] [ 1.15436542e-01 -4.38140815e-03 9.93305194e-01 1.84853039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:201.99, Y:15.85, Z:18.47 [[ 9.26382033e-01 -3.60365911e-01 -1.09328589e-01 2.01985416e+02] [ 3.58459120e-01 9.32799554e-01 -3.73102086e-02 1.58470495e+01] [ 1.15426986e-01 -4.62632286e-03 9.93305194e-01 1.84702565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.04, Y:15.86, Z:18.48 [[ 9.27092251e-01 -3.58535502e-01 -1.09326356e-01 2.02042436e+02] [ 3.56615270e-01 9.33505763e-01 -3.73167510e-02 1.58606008e+01] [ 1.15436163e-01 -4.39137708e-03 9.93305194e-01 1.84785839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.10, Y:15.87, Z:18.49 [[ 9.28589625e-01 -3.54640695e-01 -1.09321938e-01 2.02100258e+02] [ 3.52692036e-01 9.34994557e-01 -3.73296893e-02 1.58715546e+01] [ 1.15454044e-01 -3.89301450e-03 9.93305194e-01 1.84864652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.16, Y:15.88, Z:18.49 [[ 9.29738321e-01 -3.51619598e-01 -1.09317489e-01 2.02157524e+02] [ 3.49648595e-01 9.36136412e-01 -3.73427127e-02 1.58840601e+01] [ 1.15466511e-01 -3.50375535e-03 9.93305194e-01 1.84920889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.21, Y:15.90, Z:18.50 [[ 9.31017999e-01 -3.48218551e-01 -1.09312974e-01 2.02214930e+02] [ 3.46222623e-01 9.37408358e-01 -3.73559239e-02 1.58972663e+01] [ 1.15478921e-01 -3.06758705e-03 9.93305194e-01 1.85005984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66863999999998 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:202.27, Y:15.91, Z:18.53 [[ 9.32866448e-01 -3.43237330e-01 -1.09308395e-01 2.02271086e+02] [ 3.41205705e-01 9.39245549e-01 -3.73693188e-02 1.59096568e+01] [ 1.15493968e-01 -2.43606422e-03 9.93305194e-01 1.85253683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.33, Y:15.92, Z:18.51 [[ 9.33210714e-01 -3.42300965e-01 -1.09306048e-01 2.02332133e+02] [ 3.40262136e-01 9.39587516e-01 -3.73761813e-02 1.59234039e+01] [ 1.15496501e-01 -2.31285653e-03 9.93305194e-01 1.85129092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:202.39, Y:15.94, Z:18.52 [[ 9.32204834e-01 -3.45031297e-01 -1.09304854e-01 2.02389507e+02] [ 3.43010734e-01 9.38587447e-01 -3.73796749e-02 1.59352141e+01] [ 1.15489321e-01 -2.64722440e-03 9.93305194e-01 1.85204544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:202.45, Y:15.95, Z:18.53 [[ 9.30712264e-01 -3.49038886e-01 -1.09300217e-01 2.02447285e+02] [ 3.47044212e-01 9.37103015e-01 -3.73932264e-02 1.59461617e+01] [ 1.15477253e-01 -3.12967344e-03 9.93305194e-01 1.85266382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:202.51, Y:15.96, Z:18.53 [[ 9.29494518e-01 -3.52274041e-01 -1.09283760e-01 2.02505357e+02] [ 3.50295966e-01 9.35890425e-01 -3.74412620e-02 1.59565946e+01] [ 1.15467210e-01 -3.48021261e-03 9.93305196e-01 1.85343453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.56, Y:15.97, Z:18.54 [[ 9.29340512e-01 -3.52685163e-01 -1.09267508e-01 2.02561901e+02] [ 3.50704353e-01 9.35735571e-01 -3.74886320e-02 1.59718268e+01] [ 1.15467178e-01 -3.48088631e-03 9.93305197e-01 1.85415086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:202.62, Y:15.98, Z:18.57 [[ 9.33289949e-01 -3.42102343e-01 -1.09251350e-01 2.02618935e+02] [ 3.40043490e-01 9.39660310e-01 -3.75356634e-02 1.59819469e+01] [ 1.15500196e-01 -2.11855291e-03 9.93305198e-01 1.85670535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08863999999997 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:202.67, Y:16.00, Z:18.58 [[ 9.34681346e-01 -3.38283079e-01 -1.09248977e-01 2.02674338e+02] [ 3.36197387e-01 9.41042971e-01 -3.75425665e-02 1.59961217e+01] [ 1.15507997e-01 -1.63888415e-03 9.93305198e-01 1.85753731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:202.73, Y:16.01, Z:18.56 [[ 9.35465028e-01 -3.36116158e-01 -1.09229619e-01 2.02734098e+02] [ 3.34009163e-01 9.41819627e-01 -3.75988058e-02 1.60129146e+01] [ 1.15512165e-01 -1.31132575e-03 9.93305200e-01 1.85609121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20863999999997 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:202.79, Y:16.03, Z:18.59 [[ 9.35778607e-01 -3.35242942e-01 -1.09227138e-01 2.02788673e+02] [ 3.33129177e-01 9.42130957e-01 -3.76060119e-02 1.60286302e+01] [ 1.15513418e-01 -1.19584511e-03 9.93305200e-01 1.85892334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:202.84, Y:16.05, Z:18.60 [[ 9.37486684e-01 -3.30437104e-01 -1.09224709e-01 2.02843825e+02] [ 3.28289951e-01 9.43827826e-01 -3.76130658e-02 1.60471337e+01] [ 1.15518072e-01 -5.95626033e-04 9.93305200e-01 1.85956264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:202.90, Y:16.07, Z:18.58 [[ 9.38302873e-01 -3.28117672e-01 -1.09208573e-01 2.02900659e+02] [ 3.25949397e-01 9.44636822e-01 -3.76598592e-02 1.60683608e+01] [ 1.15519304e-01 -2.60114324e-04 9.93305201e-01 1.85827803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38863999999998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:202.95, Y:16.09, Z:18.61 [[ 9.40173609e-01 -3.22719991e-01 -1.09203446e-01 2.02952483e+02] [ 3.20513625e-01 9.46494391e-01 -3.76747187e-02 1.60917354e+01] [ 1.15518834e-01 4.19583764e-04 9.93305201e-01 1.86071859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.01, Y:16.12, Z:18.60 [[ 9.39779029e-01 -3.23868491e-01 -1.09199707e-01 2.03009454e+02] [ 3.21668592e-01 9.46102064e-01 -3.76855541e-02 1.61153397e+01] [ 1.15519232e-01 2.89977465e-04 9.93305201e-01 1.85964859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.06, Y:16.14, Z:18.60 [[ 9.39091511e-01 -3.25857076e-01 -1.09198448e-01 2.03063916e+02] [ 3.23670141e-01 9.45419041e-01 -3.76892007e-02 1.61351199e+01] [ 1.15519585e-01 4.93312311e-05 9.93305201e-01 1.86039070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:203.12, Y:16.15, Z:18.63 [[ 9.37621262e-01 -3.30069608e-01 -1.09180689e-01 2.03118112e+02] [ 3.27905118e-01 9.43956504e-01 -3.77405781e-02 1.61515090e+01] [ 1.15518839e-01 -4.14538234e-04 9.93305203e-01 1.86291569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62864 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:203.17, Y:16.17, Z:18.63 [[ 9.36476250e-01 -3.33310219e-01 -1.09162860e-01 2.03173579e+02] [ 3.31161649e-01 9.42816908e-01 -3.77920784e-02 1.61693359e+01] [ 1.15517076e-01 -7.59168689e-04 9.93305204e-01 1.86330581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.23, Y:16.19, Z:18.62 [[ 9.35581398e-01 -3.35815852e-01 -1.09156591e-01 2.03232523e+02] [ 3.33682150e-01 9.41927074e-01 -3.78101768e-02 1.61853853e+01] [ 1.15514805e-01 -1.04910791e-03 9.93305204e-01 1.86221263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.29, Y:16.20, Z:18.63 [[ 9.36090061e-01 -3.34400638e-01 -1.09140329e-01 2.03289340e+02] [ 3.32251877e-01 9.42430652e-01 -3.78570582e-02 1.61986735e+01] [ 1.15516616e-01 -8.24463290e-04 9.93305206e-01 1.86279462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.35, Y:16.21, Z:18.64 [[ 9.37774442e-01 -3.29650583e-01 -1.09131061e-01 2.03345887e+02] [ 3.27466596e-01 9.44102987e-01 -3.78837566e-02 1.62123119e+01] [ 1.15519363e-01 -2.10358455e-04 9.93305206e-01 1.86357787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.40, Y:16.23, Z:18.64 [[ 9.41092657e-01 -3.20061610e-01 -1.09110849e-01 2.03400809e+02] [ 3.17806404e-01 9.47396170e-01 -3.79418838e-02 1.62302146e+01] [ 1.15514940e-01 1.03070182e-03 9.93305208e-01 1.86445293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.46, Y:16.25, Z:18.65 [[ 9.44052555e-01 -3.11229816e-01 -1.09090675e-01 2.03456404e+02] [ 3.08908956e-01 9.50332190e-01 -3.79998004e-02 1.62463405e+01] [ 1.15499051e-01 2.17472224e-03 9.93305210e-01 1.86515898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:203.51, Y:16.27, Z:18.67 [[ 9.44946945e-01 -3.08510875e-01 -1.09070210e-01 2.03509536e+02] [ 3.06165181e-01 9.51217344e-01 -3.80584491e-02 1.62661412e+01] [ 1.15490921e-01 2.56971454e-03 9.93305212e-01 1.86749257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.57, Y:16.29, Z:18.67 [[ 9.45451439e-01 -3.06967737e-01 -1.09052216e-01 2.03566015e+02] [ 3.04605873e-01 9.51715764e-01 -3.81099408e-02 1.62866843e+01] [ 1.15485235e-01 2.81315293e-03 9.93305213e-01 1.86655574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:203.62, Y:16.31, Z:18.69 [[ 9.44257002e-01 -3.10628808e-01 -1.09034205e-01 2.03618259e+02] [ 3.08285295e-01 9.50528213e-01 -3.81614022e-02 1.63083856e+01] [ 1.15494119e-01 2.42052921e-03 9.93305215e-01 1.86863842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:203.67, Y:16.33, Z:18.68 [[ 9.44963084e-01 -3.08480558e-01 -1.09016123e-01 2.03674545e+02] [ 3.06116840e-01 9.51226707e-01 -3.82129870e-02 1.63313173e+01] [ 1.15487011e-01 2.73819086e-03 9.93305216e-01 1.86762850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22863999999998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:203.73, Y:16.35, Z:18.70 [[ 9.44914833e-01 -3.08634658e-01 -1.08998194e-01 2.03725585e+02] [ 3.06266074e-01 9.51176615e-01 -3.82640610e-02 1.63543162e+01] [ 1.15486148e-01 2.77382998e-03 9.93305218e-01 1.87016874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28864 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:203.78, Y:16.38, Z:18.71 [[ 9.44754769e-01 -3.09130657e-01 -1.08980102e-01 2.03778866e+02] [ 3.06759428e-01 9.51015549e-01 -3.83155186e-02 1.63807096e+01] [ 1.15486273e-01 2.76809516e-03 9.93305219e-01 1.87057349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:203.83, Y:16.41, Z:18.70 [[ 9.45396680e-01 -3.07168348e-01 -1.08962025e-01 2.03833435e+02] [ 3.04778211e-01 9.51650265e-01 -3.83668580e-02 1.64093221e+01] [ 1.15478825e-01 3.06264908e-03 9.93305221e-01 1.86954698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40864 meters Centerline goodness : 0.998428 with order 1 Centerline is valid? [True, True] Translation: X:203.88, Y:16.44, Z:18.72 [[ 9.44185623e-01 -3.10871914e-01 -1.08959455e-01 2.03884464e+02] [ 3.08505468e-01 9.50448210e-01 -3.83741561e-02 1.64361612e+01] [ 1.15489766e-01 2.61773894e-03 9.93305221e-01 1.87153820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46864 meters Centerline goodness : 0.998478 with order 1 Centerline is valid? [True, True] Translation: X:203.94, Y:16.46, Z:18.71 [[ 9.42970983e-01 -3.14538399e-01 -1.08955588e-01 2.03940130e+02] [ 3.12195037e-01 9.49242245e-01 -3.83851326e-02 1.64635332e+01] [ 1.15498845e-01 2.18067238e-03 9.93305221e-01 1.87081729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52863999999997 meters Centerline goodness : 0.996759 with order 1 Centerline is valid? [True, True] Translation: X:203.99, Y:16.49, Z:18.73 [[ 9.40208621e-01 -3.22702186e-01 -1.08954338e-01 2.03992353e+02] [ 3.20412874e-01 9.46499815e-01 -3.83886811e-02 1.64883673e+01] [ 1.15513372e-01 1.18299657e-03 9.93305221e-01 1.87296053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58863999999997 meters Centerline goodness : 0.996891 with order 1 Centerline is valid? [True, True] Translation: X:204.05, Y:16.51, Z:18.73 [[ 9.37799597e-01 -3.29638333e-01 -1.08951757e-01 2.04046794e+02] [ 3.27394703e-01 9.44107227e-01 -3.83960045e-02 1.65098470e+01] [ 1.15518936e-01 3.37529460e-04 9.93305221e-01 1.87340835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64863999999997 meters Centerline goodness : 0.996176 with order 1 Centerline is valid? [True, True] Translation: X:204.10, Y:16.53, Z:18.74 [[ 9.36051119e-01 -3.34577006e-01 -1.08933603e-01 2.04101459e+02] [ 3.32360669e-01 9.42368389e-01 -3.84474401e-02 1.65293026e+01] [ 1.15519213e-01 -2.16475820e-04 9.93305222e-01 1.87401736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70863999999997 meters Centerline goodness : 0.996418 with order 1 Centerline is valid? [True, True] Translation: X:204.16, Y:16.55, Z:18.74 [[ 9.34692896e-01 -3.38359475e-01 -1.08913067e-01 2.04156671e+02] [ 3.36161933e-01 9.41016726e-01 -3.85055282e-02 1.65471009e+01] [ 1.15517728e-01 -6.21583268e-04 9.93305224e-01 1.87420068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76863999999998 meters Centerline goodness : 0.996465 with order 1 Centerline is valid? [True, True] Translation: X:204.21, Y:16.56, Z:18.75 [[ 9.33597096e-01 -3.41377850e-01 -1.08892729e-01 2.04211935e+02] [ 3.39194054e-01 9.39925684e-01 -3.85629588e-02 1.65645637e+01] [ 1.15515612e-01 -9.33499742e-04 9.93305226e-01 1.87538267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82863999999998 meters Centerline goodness : 0.984472 with order 1 Centerline is valid? [True, True] Translation: X:204.26, Y:16.61, Z:18.75 [[ 9.53878669e-01 -2.79747976e-01 -1.08887807e-01 2.04259321e+02] [ 2.77154409e-01 9.60050655e-01 -3.85768512e-02 1.66120566e+01] [ 1.15329606e-01 6.61889981e-03 9.93305226e-01 1.87451395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88863999999998 meters Centerline goodness : 0.995979 with order 1 Centerline is valid? [True, True] Translation: X:204.32, Y:16.60, Z:18.77 [[ 9.31975960e-01 -3.45786161e-01 -1.08870293e-01 2.04324666e+02] [ 3.43624909e-01 9.38312281e-01 -3.86262146e-02 1.65952867e+01] [ 1.15510744e-01 -1.41184116e-03 9.93305227e-01 1.87696250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94863999999998 meters Centerline goodness : 0.997500 with order 1 Centerline is valid? [True, True] Translation: X:204.38, Y:16.61, Z:18.76 [[ 9.32005664e-01 -3.45711656e-01 -1.08852620e-01 2.04384936e+02] [ 3.43544088e-01 9.38339826e-01 -3.86759570e-02 1.66109314e+01] [ 1.15511477e-01 -1.34946293e-03 9.93305229e-01 1.87587873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00863999999999 meters Centerline goodness : 0.997057 with order 1 Centerline is valid? [True, True] Translation: X:204.44, Y:16.63, Z:18.77 [[ 9.32471089e-01 -3.44454687e-01 -1.08851446e-01 2.04441160e+02] [ 3.42278195e-01 9.38802190e-01 -3.86792599e-02 1.66255842e+01] [ 1.15513228e-01 -1.19018491e-03 9.93305229e-01 1.87660511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06864 meters Centerline goodness : 0.997400 with order 1 Centerline is valid? [True, True] Translation: X:204.50, Y:16.64, Z:18.77 [[ 9.32568154e-01 -3.44198102e-01 -1.08831542e-01 2.04496425e+02] [ 3.42013342e-01 9.38896405e-01 -3.87351825e-02 1.66431110e+01] [ 1.15514120e-01 -1.09864183e-03 9.93305231e-01 1.87737569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12864 meters Centerline goodness : 0.996909 with order 1 Centerline is valid? [True, True] Translation: X:204.55, Y:16.65, Z:18.78 [[ 9.32278528e-01 -3.44987315e-01 -1.08814050e-01 2.04554142e+02] [ 3.42802185e-01 9.38606650e-01 -3.87842593e-02 1.66532602e+01] [ 1.15513669e-01 -1.14396193e-03 9.93305232e-01 1.87800709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18864 meters Centerline goodness : 0.995684 with order 1 Centerline is valid? [True, True] Translation: X:204.61, Y:16.67, Z:18.80 [[ 9.31091913e-01 -3.48183489e-01 -1.08793878e-01 2.04611591e+02] [ 3.46013478e-01 9.37425233e-01 -3.88407638e-02 1.66654441e+01] [ 1.15509839e-01 -1.47982693e-03 9.93305234e-01 1.88041667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24863999999997 meters Centerline goodness : 0.995672 with order 1 Centerline is valid? [True, True] Translation: X:204.67, Y:16.68, Z:18.81 [[ 9.31994597e-01 -3.45759980e-01 -1.08793878e-01 2.04666353e+02] [ 3.43573500e-01 9.38322250e-01 -3.88407638e-02 1.66821393e+01] [ 1.15513298e-01 -1.17931131e-03 9.93305234e-01 1.88117058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30863999999997 meters Centerline goodness : 0.997058 with order 1 Centerline is valid? [True, True] Translation: X:204.73, Y:16.70, Z:18.80 [[ 9.33834410e-01 -3.40766254e-01 -1.08773414e-01 2.04725469e+02] [ 3.38539268e-01 9.40147919e-01 -3.88979882e-02 1.66996436e+01] [ 1.15518221e-01 -4.99792129e-04 9.93305236e-01 1.88037023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36863999999997 meters Centerline goodness : 0.996074 with order 1 Centerline is valid? [True, True] Translation: X:204.78, Y:16.72, Z:18.82 [[ 9.34590267e-01 -3.38688132e-01 -1.08772155e-01 2.04780740e+02] [ 3.36446698e-01 9.40898662e-01 -3.89015075e-02 1.67180759e+01] [ 1.15519054e-01 -2.39062268e-04 9.93305236e-01 1.88247757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42863999999997 meters Centerline goodness : 0.995928 with order 1 Centerline is valid? [True, True] Translation: X:204.84, Y:16.73, Z:18.83 [[ 9.35350435e-01 -3.36583517e-01 -1.08770862e-01 2.04837110e+02] [ 3.34327468e-01 9.41653617e-01 -3.89051232e-02 1.67330496e+01] [ 1.15519299e-01 2.48369620e-05 9.93305236e-01 1.88338391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48863999999998 meters Centerline goodness : 0.997398 with order 1 Centerline is valid? [True, True] Translation: X:204.89, Y:16.75, Z:18.83 [[ 9.36478483e-01 -3.33438135e-01 -1.08752293e-01 2.04894494e+02] [ 3.31154895e-01 9.42771866e-01 -3.89569601e-02 1.67544031e+01] [ 1.15518339e-01 4.68500561e-04 9.93305237e-01 1.88257978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54863999999998 meters Centerline goodness : 0.997105 with order 1 Centerline is valid? [True, True] Translation: X:204.95, Y:16.78, Z:18.83 [[ 9.38302484e-01 -3.28270728e-01 -1.08750986e-01 2.04949442e+02] [ 3.25952408e-01 9.44583029e-01 -3.89606104e-02 1.67752592e+01] [ 1.15513963e-01 1.10919186e-03 9.93305237e-01 1.88320076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60863999999998 meters Centerline goodness : 0.997744 with order 1 Centerline is valid? [True, True] Translation: X:205.00, Y:16.80, Z:18.85 [[ 9.39346264e-01 -3.25278027e-01 -1.08732706e-01 2.05003534e+02] [ 3.22933801e-01 9.45617184e-01 -3.90115600e-02 1.67971729e+01] [ 1.15509118e-01 1.53189712e-03 9.93305239e-01 1.88545190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66863999999998 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:205.06, Y:16.82, Z:18.86 [[ 9.38915334e-01 -3.26519389e-01 -1.08734010e-01 2.05058296e+02] [ 3.24183875e-01 9.45189503e-01 -3.90079243e-02 1.68174889e+01] [ 1.15511089e-01 1.37532552e-03 9.93305239e-01 1.88577901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.12, Y:16.84, Z:18.85 [[ 9.37771098e-01 -3.29797513e-01 -1.08715083e-01 2.05115782e+02] [ 3.27477824e-01 9.44051134e-01 -3.90606051e-02 1.68384447e+01] [ 1.15514687e-01 1.02812782e-03 9.93305240e-01 1.88503112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78864 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:205.17, Y:16.86, Z:18.88 [[ 9.36893385e-01 -3.32283171e-01 -1.08713744e-01 2.05170130e+02] [ 3.29979713e-01 9.43179393e-01 -3.90643293e-02 1.68573453e+01] [ 1.15516983e-01 7.25781552e-04 9.93305240e-01 1.88760216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:205.23, Y:16.88, Z:18.88 [[ 9.35491434e-01 -3.36210322e-01 -1.08712443e-01 2.05225975e+02] [ 3.33932832e-01 9.41786897e-01 -3.90679494e-02 1.68751316e+01] [ 1.15519003e-01 2.45077976e-04 9.93305240e-01 1.88798398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.28, Y:16.90, Z:18.87 [[ 9.35907634e-01 -3.35056058e-01 -1.08693781e-01 2.05283930e+02] [ 3.32764781e-01 9.42198090e-01 -3.91198027e-02 1.68963336e+01] [ 1.15518400e-01 4.43059729e-04 9.93305242e-01 1.88718312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:205.34, Y:16.92, Z:18.89 [[ 9.38015468e-01 -3.29109296e-01 -1.08692471e-01 2.05337027e+02] [ 3.26777719e-01 9.44291099e-01 -3.91234417e-02 1.69201860e+01] [ 1.15513221e-01 1.18011566e-03 9.93305242e-01 1.88944993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:205.39, Y:16.94, Z:18.90 [[ 9.39147975e-01 -3.25863942e-01 -1.08691176e-01 2.05389884e+02] [ 3.23510263e-01 9.45415350e-01 -3.91270401e-02 1.69445350e+01] [ 1.15508398e-01 1.58336961e-03 9.93305242e-01 1.89008500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:205.44, Y:16.97, Z:18.91 [[ 9.39409896e-01 -3.25110310e-01 -1.08684564e-01 2.05441965e+02] [ 3.22749480e-01 9.45674580e-01 -3.91453978e-02 1.69711559e+01] [ 1.15506802e-01 1.69568759e-03 9.93305242e-01 1.89058582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:205.49, Y:17.00, Z:18.91 [[ 9.38668093e-01 -3.27252917e-01 -1.08663422e-01 2.05493992e+02] [ 3.24899603e-01 9.44935603e-01 -3.92039999e-02 1.69963988e+01] [ 1.15509559e-01 1.49484128e-03 9.93305244e-01 1.89123473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:205.55, Y:17.02, Z:18.92 [[ 9.37458662e-01 -3.30708525e-01 -1.08642203e-01 2.05546878e+02] [ 3.28371512e-01 9.43732266e-01 -3.92627133e-02 1.70180843e+01] [ 1.15513667e-01 1.13216619e-03 9.93305246e-01 1.89187613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26863999999998 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:205.60, Y:17.04, Z:18.92 [[ 9.37139249e-01 -3.31619555e-01 -1.08620898e-01 2.05599673e+02] [ 3.29281819e-01 9.43412581e-01 -3.93215660e-02 1.70411871e+01] [ 1.15514122e-01 1.08289587e-03 9.93305248e-01 1.89247397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32863999999998 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:205.65, Y:17.06, Z:18.93 [[ 9.37949585e-01 -3.29327572e-01 -1.08599842e-01 2.05654136e+02] [ 3.26967784e-01 9.44214654e-01 -3.93796339e-02 1.70625256e+01] [ 1.15510362e-01 1.42746151e-03 9.93305249e-01 1.89336297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38863999999998 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:205.71, Y:17.09, Z:18.94 [[ 9.40198410e-01 -3.22857658e-01 -1.08581224e-01 2.05706764e+02] [ 3.20448843e-01 9.46444791e-01 -3.94309032e-02 1.70874201e+01] [ 1.15496703e-01 2.27814478e-03 9.93305251e-01 1.89420182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.76, Y:17.11, Z:18.93 [[ 9.40870628e-01 -3.20899694e-01 -1.08562645e-01 2.05762682e+02] [ 3.18471989e-01 9.47109690e-01 -3.94819897e-02 1.71135742e+01] [ 1.15490492e-01 2.57328286e-03 9.93305252e-01 1.89316285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50863999999999 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:205.81, Y:17.14, Z:18.95 [[ 9.41676118e-01 -3.18528697e-01 -1.08561313e-01 2.05814831e+02] [ 3.16084862e-01 9.47908879e-01 -3.94856516e-02 1.71363832e+01] [ 1.15483546e-01 2.86810731e-03 9.93305252e-01 1.89549102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:205.87, Y:17.16, Z:18.95 [[ 9.40902609e-01 -3.20807700e-01 -1.08557361e-01 2.05870290e+02] [ 3.18377710e-01 9.47140781e-01 -3.94965154e-02 1.71626930e+01] [ 1.15489890e-01 2.60013044e-03 9.93305253e-01 1.89462512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:205.92, Y:17.19, Z:18.95 [[ 9.38056352e-01 -3.29038247e-01 -1.08554655e-01 2.05923556e+02] [ 3.26662141e-01 9.44315246e-01 -3.95039507e-02 1.71857098e+01] [ 1.15508127e-01 1.59623581e-03 9.93305253e-01 1.89513299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68864 meters Centerline goodness : 0.999018 with order 1 Centerline is valid? [True, True] Translation: X:205.98, Y:17.20, Z:18.98 [[ 9.33996165e-01 -3.40399232e-01 -1.08533526e-01 2.05977048e+02] [ 3.38092528e-01 9.40280967e-01 -3.95619167e-02 1.72038097e+01] [ 1.15518855e-01 2.56304300e-04 9.93305254e-01 1.89784017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:206.04, Y:17.22, Z:18.96 [[ 9.31136771e-01 -3.48146020e-01 -1.08529546e-01 2.06037991e+02] [ 3.45890330e-01 9.37440062e-01 -3.95728310e-02 1.72183591e+01] [ 1.15517068e-01 -6.91602518e-04 9.93305255e-01 1.89649867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80863999999997 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:206.09, Y:17.24, Z:18.99 [[ 9.31118855e-01 -3.48195150e-01 -1.08525645e-01 2.06092057e+02] [ 3.45938547e-01 9.37421819e-01 -3.95835278e-02 1.72353996e+01] [ 1.15517100e-01 -6.86234718e-04 9.93305255e-01 1.89924816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86863999999997 meters Centerline goodness : 0.998919 with order 1 Centerline is valid? [True, True] Translation: X:206.15, Y:17.25, Z:19.00 [[ 9.31075424e-01 -3.48312467e-01 -1.08521793e-01 2.06149293e+02] [ 3.46055427e-01 9.37378232e-01 -3.95940856e-02 1.72493796e+01] [ 1.15517080e-01 -6.89475286e-04 9.93305255e-01 1.89985601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:206.21, Y:17.27, Z:18.98 [[ 9.31061520e-01 -3.48355376e-01 -1.08503349e-01 2.06209900e+02] [ 3.46092744e-01 9.37362321e-01 -3.96445643e-02 1.72653378e+01] [ 1.15517348e-01 -6.40693562e-04 9.93305256e-01 1.89849501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:206.27, Y:17.28, Z:18.99 [[ 9.31194451e-01 -3.48000287e-01 -1.08502045e-01 2.06265705e+02] [ 3.45734836e-01 9.37494239e-01 -3.96481327e-02 1.72825814e+01] [ 1.15517604e-01 -5.92815653e-04 9.93305256e-01 1.89927080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04863999999998 meters Centerline goodness : 0.998330 with order 1 Centerline is valid? [True, True] Translation: X:206.32, Y:17.30, Z:19.02 [[ 9.32053498e-01 -3.45698558e-01 -1.08484024e-01 2.06319639e+02] [ 3.43411816e-01 9.38345588e-01 -3.96973810e-02 1.73006986e+01] [ 1.15518833e-01 -2.54612890e-04 9.93305257e-01 1.90196125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10863999999998 meters Centerline goodness : 0.998080 with order 1 Centerline is valid? [True, True] Translation: X:206.38, Y:17.32, Z:19.03 [[ 9.32954832e-01 -3.43259466e-01 -1.08481430e-01 2.06376196e+02] [ 3.40955451e-01 9.39240617e-01 -3.97044683e-02 1.73165689e+01] [ 1.15519100e-01 5.51406820e-05 9.93305257e-01 1.90292516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16863999999998 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:206.43, Y:17.34, Z:19.02 [[ 9.34527216e-01 -3.38960801e-01 -1.08464087e-01 2.06433255e+02] [ 3.36622380e-01 9.40800281e-01 -3.97517896e-02 1.73378004e+01] [ 1.15517342e-01 6.37690111e-04 9.93305259e-01 1.90169604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22863999999998 meters Centerline goodness : 0.997494 with order 1 Centerline is valid? [True, True] Translation: X:206.49, Y:17.36, Z:19.05 [[ 9.34835379e-01 -3.38115975e-01 -1.08445389e-01 2.06485388e+02] [ 3.35765974e-01 9.41104114e-01 -3.98027340e-02 1.73570588e+01] [ 1.15516342e-01 7.96732119e-04 9.93305260e-01 1.90461186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:206.54, Y:17.38, Z:19.03 [[ 9.34513333e-01 -3.39010556e-01 -1.08428192e-01 2.06542164e+02] [ 3.36661127e-01 9.40782281e-01 -3.98495261e-02 1.73782086e+01] [ 1.15516732e-01 7.36356069e-04 9.93305261e-01 1.90302960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:206.60, Y:17.40, Z:19.04 [[ 9.33751172e-01 -3.41106368e-01 -1.08421376e-01 2.06597197e+02] [ 3.38768858e-01 9.40024573e-01 -3.98680623e-02 1.73968516e+01] [ 1.15518008e-01 4.97064055e-04 9.93305262e-01 1.90399675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:206.65, Y:17.42, Z:19.05 [[ 9.32737431e-01 -3.43874590e-01 -1.08402727e-01 2.06651533e+02] [ 3.41549812e-01 9.39015561e-01 -3.99187074e-02 1.74180132e+01] [ 1.15518876e-01 2.08741683e-04 9.93305263e-01 1.90473509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:206.71, Y:17.44, Z:19.06 [[ 9.32383147e-01 -3.44839928e-01 -1.08383998e-01 2.06705626e+02] [ 3.42515746e-01 9.38661496e-01 -3.99694936e-02 1.74377685e+01] [ 1.15518963e-01 1.43656309e-04 9.93305265e-01 1.90574193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52863999999997 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:206.76, Y:17.46, Z:19.07 [[ 9.31469166e-01 -3.47303235e-01 -1.08377373e-01 2.06758356e+02] [ 3.44993567e-01 9.37752869e-01 -3.99874488e-02 1.74591909e+01] [ 1.15518963e-01 -1.42421038e-04 9.93305265e-01 1.90661661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58863999999997 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:206.81, Y:17.48, Z:19.07 [[ 9.31471139e-01 -3.47304631e-01 -1.08355942e-01 2.06812633e+02] [ 3.44988226e-01 9.37752359e-01 -4.00454401e-02 1.74802559e+01] [ 1.15519007e-01 -8.03523582e-05 9.93305267e-01 1.90737294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:206.87, Y:17.50, Z:19.08 [[ 9.31295683e-01 -3.47780675e-01 -1.08337217e-01 2.06865148e+02] [ 3.45461594e-01 9.37575914e-01 -4.00960334e-02 1.75026180e+01] [ 1.15518991e-01 -8.50848698e-05 9.93305268e-01 1.90814905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:206.92, Y:17.52, Z:19.09 [[ 9.30104264e-01 -3.50961244e-01 -1.08315572e-01 2.06919825e+02] [ 3.48656839e-01 9.36389893e-01 -4.01544206e-02 1.75230344e+01] [ 1.15518252e-01 -4.17167192e-04 9.93305270e-01 1.90887928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:206.98, Y:17.54, Z:19.10 [[ 9.28625003e-01 -3.54862463e-01 -1.08296977e-01 2.06975580e+02] [ 3.52578622e-01 9.34918131e-01 -4.02045089e-02 1.75414702e+01] [ 1.15515879e-01 -8.48286890e-04 9.93305271e-01 1.90952239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.03, Y:17.56, Z:19.10 [[ 9.26676365e-01 -3.59926037e-01 -1.08278171e-01 2.07032115e+02] [ 3.57670671e-01 9.32979753e-01 -4.02550958e-02 1.75550491e+01] [ 1.15510198e-01 -1.42448005e-03 9.93305273e-01 1.91017790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.09, Y:17.57, Z:19.11 [[ 9.26470201e-01 -3.60462731e-01 -1.08257035e-01 2.07088359e+02] [ 3.58204384e-01 9.32772520e-01 -4.03118551e-02 1.75703820e+01] [ 1.15510109e-01 -1.43041203e-03 9.93305275e-01 1.91081904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.14, Y:17.59, Z:19.11 [[ 9.28932599e-01 -3.54075090e-01 -1.08236121e-01 2.07143758e+02] [ 3.51766868e-01 9.35216820e-01 -4.03679318e-02 1.75856140e+01] [ 1.15517520e-01 -5.74793463e-04 9.93305276e-01 1.91144900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.20, Y:17.61, Z:19.12 [[ 9.32162794e-01 -3.45488136e-01 -1.08214936e-01 2.07197546e+02] [ 3.43115440e-01 9.38422955e-01 -4.04246434e-02 1.76059905e+01] [ 1.15517615e-01 5.52133122e-04 9.93305278e-01 1.91226165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:207.25, Y:17.63, Z:19.13 [[ 9.33554273e-01 -3.41717137e-01 -1.08193424e-01 2.07252303e+02] [ 3.39312492e-01 9.39802229e-01 -4.04821365e-02 1.76273289e+01] [ 1.15513861e-01 1.08089112e-03 9.93305280e-01 1.91298467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12864 meters Centerline goodness : 0.997687 with order 1 Centerline is valid? [True, True] Translation: X:207.30, Y:17.65, Z:19.16 [[ 9.35140768e-01 -3.37357417e-01 -1.08174480e-01 2.07304088e+02] [ 3.34917796e-01 9.41375148e-01 -4.05326961e-02 1.76489519e+01] [ 1.15506773e-01 1.67421810e-03 9.93305282e-01 1.91581014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:207.36, Y:17.67, Z:19.14 [[ 9.33397925e-01 -3.42156007e-01 -1.08155350e-01 2.07360544e+02] [ 3.39742533e-01 9.39642473e-01 -4.05836770e-02 1.76716545e+01] [ 1.15513310e-01 1.13574724e-03 9.93305283e-01 1.91428293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:207.41, Y:17.69, Z:19.15 [[ 9.32857178e-01 -3.43633660e-01 -1.08135999e-01 2.07414770e+02] [ 3.41224107e-01 9.39103238e-01 -4.06351751e-02 1.76934153e+01] [ 1.15514480e-01 1.00820512e-03 9.93305285e-01 1.91504138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30863999999997 meters Centerline goodness : 0.999852 with order 1 Centerline is valid? [True, True] Translation: X:207.47, Y:17.71, Z:19.16 [[ 9.32060295e-01 -3.45795217e-01 -1.08116951e-01 2.07470203e+02] [ 3.43394278e-01 9.38309670e-01 -4.06857936e-02 1.77129816e+01] [ 1.15516133e-01 7.94870664e-04 9.93305286e-01 1.91574899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36863999999997 meters Centerline goodness : 0.998381 with order 1 Centerline is valid? [True, True] Translation: X:207.52, Y:17.73, Z:19.18 [[ 9.32182076e-01 -3.45472792e-01 -1.08097765e-01 2.07523399e+02] [ 3.43063788e-01 9.38428345e-01 -4.07367043e-02 1.77306525e+01] [ 1.15515430e-01 8.89596943e-04 9.93305287e-01 1.91811333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42863999999997 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:207.58, Y:17.76, Z:19.17 [[ 9.33129371e-01 -3.42908046e-01 -1.08090932e-01 2.07578929e+02] [ 3.40479775e-01 9.39368175e-01 -4.07548259e-02 1.77552480e+01] [ 1.15512340e-01 1.22674871e-03 9.93305288e-01 1.91715635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48863999999998 meters Centerline goodness : 0.997742 with order 1 Centerline is valid? [True, True] Translation: X:207.63, Y:17.78, Z:19.20 [[ 9.34418497e-01 -3.39381208e-01 -1.08085469e-01 2.07630459e+02] [ 3.36927715e-01 9.40647425e-01 -4.07693089e-02 1.77777487e+01] [ 1.15506656e-01 1.67860602e-03 9.93305288e-01 1.91957432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54863999999998 meters Centerline goodness : 0.997302 with order 1 Centerline is valid? [True, True] Translation: X:207.68, Y:17.80, Z:19.20 [[ 9.34332358e-01 -3.39624371e-01 -1.08066326e-01 2.07681761e+02] [ 3.37166639e-01 9.40559613e-01 -4.08199888e-02 1.78030640e+01] [ 1.15506285e-01 1.70307636e-03 9.93305289e-01 1.92040292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60863999999998 meters Centerline goodness : 0.997883 with order 1 Centerline is valid? [True, True] Translation: X:207.73, Y:17.83, Z:19.21 [[ 9.33467494e-01 -3.42001449e-01 -1.08043723e-01 2.07734957e+02] [ 3.39552661e-01 9.39698270e-01 -4.08797289e-02 1.78270645e+01] [ 1.15509426e-01 1.47336435e-03 9.93305291e-01 1.92083128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66863999999998 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:207.79, Y:17.85, Z:19.21 [[ 9.32413711e-01 -3.44870248e-01 -1.08023992e-01 2.07788719e+02] [ 3.42434599e-01 9.38649633e-01 -4.09318013e-02 1.78494271e+01] [ 1.15512841e-01 1.17422028e-03 9.93305293e-01 1.92145936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72863999999998 meters Centerline goodness : 0.998326 with order 1 Centerline is valid? [True, True] Translation: X:207.84, Y:17.87, Z:19.22 [[ 9.32220772e-01 -3.45397558e-01 -1.08004441e-01 2.07842922e+02] [ 3.42959467e-01 9.38455737e-01 -4.09833257e-02 1.78711169e+01] [ 1.15512928e-01 1.16436197e-03 9.93305294e-01 1.92235120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:207.90, Y:17.89, Z:19.21 [[ 9.32921609e-01 -3.43506229e-01 -1.07984916e-01 2.07898658e+02] [ 3.41049551e-01 9.39149273e-01 -4.10347080e-02 1.78948771e+01] [ 1.15509633e-01 1.45395869e-03 9.93305296e-01 1.92132125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84864 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:207.95, Y:17.92, Z:19.23 [[ 9.33684497e-01 -3.41433327e-01 -1.07965475e-01 2.07950444e+02] [ 3.38956916e-01 9.39904339e-01 -4.10857956e-02 1.79202820e+01] [ 1.15505278e-01 1.76552601e-03 9.93305297e-01 1.92321501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90864 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:208.00, Y:17.95, Z:19.24 [[ 9.33975884e-01 -3.40637304e-01 -1.07959601e-01 2.08002829e+02] [ 3.38153810e-01 9.40192901e-01 -4.11012247e-02 1.79452138e+01] [ 1.15503461e-01 1.88060237e-03 9.93305297e-01 1.92399967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96864 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:208.06, Y:17.97, Z:19.23 [[ 9.34234654e-01 -3.39932926e-01 -1.07940804e-01 2.08056584e+02] [ 3.37439049e-01 9.40447512e-01 -4.11505302e-02 1.79718162e+01] [ 1.15501081e-01 2.02080911e-03 9.93305299e-01 1.92332751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02863999999997 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:208.11, Y:18.00, Z:19.24 [[ 9.32868466e-01 -3.43666087e-01 -1.07935382e-01 2.08106039e+02] [ 3.41195429e-01 9.39090593e-01 -4.11647475e-02 1.80038441e+01] [ 1.15508030e-01 1.57423582e-03 9.93305299e-01 1.92404740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:208.16, Y:18.03, Z:19.25 [[ 9.32124570e-01 -3.45685556e-01 -1.07913310e-01 2.08158090e+02] [ 3.43221691e-01 9.38349388e-01 -4.12225286e-02 1.80311356e+01] [ 1.15510421e-01 1.38634308e-03 9.93305301e-01 1.92467230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14863999999997 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:208.21, Y:18.06, Z:19.25 [[ 9.30596053e-01 -3.49781214e-01 -1.07907780e-01 2.08209748e+02] [ 3.47343068e-01 9.36830989e-01 -4.12369992e-02 1.80600181e+01] [ 1.15515280e-01 8.93969285e-04 9.93305301e-01 1.92519079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:208.26, Y:18.09, Z:19.26 [[ 9.27786642e-01 -3.57168096e-01 -1.07902263e-01 2.08262163e+02] [ 3.54777914e-01 9.34040123e-01 -4.12514296e-02 1.80873097e+01] [ 1.15518738e-01 -8.81453354e-06 9.93305301e-01 1.92594505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:208.32, Y:18.11, Z:19.27 [[ 9.24017541e-01 -3.66810400e-01 -1.07896777e-01 2.08316009e+02] [ 3.64483794e-01 9.30294953e-01 -4.12657752e-02 1.81106480e+01] [ 1.15512542e-01 -1.19632643e-03 9.93305301e-01 1.92654097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32863999999998 meters Centerline goodness : 0.994283 with order 1 Centerline is valid? [True, True] Translation: X:208.37, Y:18.13, Z:19.30 [[ 9.18148278e-01 -3.81265248e-01 -1.07891388e-01 2.08370264e+02] [ 3.79035782e-01 9.24460842e-01 -4.12798605e-02 1.81301952e+01] [ 1.15479939e-01 -2.99366370e-03 9.93305301e-01 1.92950647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38863999999998 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:208.43, Y:18.15, Z:19.28 [[ 9.18297118e-01 -3.80906618e-01 -1.07891388e-01 2.08429526e+02] [ 3.78674687e-01 9.24608811e-01 -4.12798605e-02 1.81503389e+01] [ 1.15481100e-01 -2.94856059e-03 9.93305301e-01 1.92784492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44863999999998 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:208.49, Y:18.16, Z:19.28 [[ 9.16780752e-01 -3.84542302e-01 -1.07890088e-01 2.08487498e+02] [ 3.82334999e-01 9.23101100e-01 -4.12832559e-02 1.81632603e+01] [ 1.15468618e-01 -3.40246253e-03 9.93305301e-01 1.92847737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50863999999999 meters Centerline goodness : 0.994101 with order 1 Centerline is valid? [True, True] Translation: X:208.54, Y:18.18, Z:19.32 [[ 9.16165766e-01 -3.86006634e-01 -1.07884976e-01 2.08542705e+02] [ 3.83807861e-01 9.22489087e-01 -4.12966125e-02 1.81775718e+01] [ 1.15463479e-01 -3.57255915e-03 9.93305301e-01 1.93162307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:208.60, Y:18.19, Z:19.30 [[ 9.17962038e-01 -3.81715604e-01 -1.07883706e-01 2.08603767e+02] [ 3.79486879e-01 9.24274864e-01 -4.12999294e-02 1.81917724e+01] [ 1.15479025e-01 -3.02868346e-03 9.93305301e-01 1.92986455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62864 meters Centerline goodness : 0.996407 with order 1 Centerline is valid? [True, True] Translation: X:208.66, Y:18.20, Z:19.33 [[ 9.19350596e-01 -3.78359795e-01 -1.07881175e-01 2.08659294e+02] [ 3.76107249e-01 9.25654961e-01 -4.13065401e-02 1.82040485e+01] [ 1.15489479e-01 -2.59969960e-03 9.93305301e-01 1.93274010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.72, Y:18.22, Z:19.31 [[ 9.22713165e-01 -3.70085008e-01 -1.07877254e-01 2.08718245e+02] [ 3.67774717e-01 9.28996599e-01 -4.13167784e-02 1.82200764e+01] [ 1.15508322e-01 -1.55099100e-03 9.93305301e-01 1.93121291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:208.77, Y:18.24, Z:19.32 [[ 9.25346285e-01 -3.63452729e-01 -1.07871993e-01 2.08773202e+02] [ 3.61095798e-01 9.31612373e-01 -4.13305080e-02 1.82401330e+01] [ 1.15516569e-01 -7.07091391e-04 9.93305302e-01 1.93191486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80863999999997 meters Centerline goodness : 0.996369 with order 1 Centerline is valid? [True, True] Translation: X:208.83, Y:18.26, Z:19.35 [[ 9.25537636e-01 -3.62966759e-01 -1.07866658e-01 2.08825301e+02] [ 3.60604916e-01 9.31801874e-01 -4.13444283e-02 1.82610105e+01] [ 1.15517007e-01 -6.31422547e-04 9.93305302e-01 1.93475428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:208.88, Y:18.29, Z:19.33 [[ 9.26254136e-01 -3.61136009e-01 -1.07861294e-01 2.08880785e+02] [ 3.58760155e-01 9.32513074e-01 -4.13584163e-02 1.82851670e+01] [ 1.15518080e-01 -3.87930394e-04 9.93305302e-01 1.93333753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:208.93, Y:18.31, Z:19.34 [[ 9.25864628e-01 -3.62135062e-01 -1.07855862e-01 2.08934554e+02] [ 3.59764312e-01 9.32125501e-01 -4.13725779e-02 1.83082292e+01] [ 1.15517660e-01 -4.97283458e-04 9.93305302e-01 1.93401389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98863999999998 meters Centerline goodness : 0.995972 with order 1 Centerline is valid? [True, True] Translation: X:208.99, Y:18.33, Z:19.37 [[ 9.24231521e-01 -3.66284562e-01 -1.07850432e-01 2.08986124e+02] [ 3.63940269e-01 9.30502348e-01 -4.13867279e-02 1.83298203e+01] [ 1.15514400e-01 -1.00019672e-03 9.93305302e-01 1.93675381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04863999999998 meters Centerline goodness : 0.994990 with order 1 Centerline is valid? [True, True] Translation: X:209.04, Y:18.35, Z:19.37 [[ 9.23895413e-01 -3.67133125e-01 -1.07844955e-01 2.09040397e+02] [ 3.64792926e-01 9.30167769e-01 -4.14009947e-02 1.83507870e+01] [ 1.15513578e-01 -1.09088763e-03 9.93305302e-01 1.93747865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:209.10, Y:18.37, Z:19.36 [[ 9.24299092e-01 -3.66117223e-01 -1.07839548e-01 2.09096381e+02] [ 3.63768488e-01 9.30568256e-01 -4.14150732e-02 1.83736650e+01] [ 1.15514832e-01 -9.48714850e-04 9.93305302e-01 1.93598517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:209.15, Y:18.40, Z:19.37 [[ 9.24690324e-01 -3.65130361e-01 -1.07831467e-01 2.09150570e+02] [ 3.62772482e-01 9.30956055e-01 -4.14361029e-02 1.83958404e+01] [ 1.15515936e-01 -8.02725697e-04 9.93305303e-01 1.93676247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22863999999998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:209.20, Y:18.42, Z:19.37 [[ 9.25232354e-01 -3.63756258e-01 -1.07826139e-01 2.09203934e+02] [ 3.61387459e-01 9.31493964e-01 -4.14499630e-02 1.84205711e+01] [ 1.15517081e-01 -6.16167656e-04 9.93305303e-01 1.93741878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28864 meters Centerline goodness : 0.997005 with order 1 Centerline is valid? [True, True] Translation: X:209.26, Y:18.44, Z:19.40 [[ 9.25423854e-01 -3.63270402e-01 -1.07820707e-01 2.09256512e+02] [ 3.60896670e-01 9.31683596e-01 -4.14640874e-02 1.84434355e+01] [ 1.15517460e-01 -5.40278724e-04 9.93305303e-01 1.93962429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34864 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:209.31, Y:18.47, Z:19.39 [[ 9.25518441e-01 -3.63030154e-01 -1.07818003e-01 2.09313268e+02] [ 3.60653978e-01 9.31777256e-01 -4.14711193e-02 1.84662085e+01] [ 1.15517630e-01 -5.02705872e-04 9.93305303e-01 1.93859835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:209.37, Y:18.49, Z:19.39 [[ 9.25288221e-01 -3.63617343e-01 -1.07815285e-01 2.09366165e+02] [ 3.61244315e-01 9.31548230e-01 -4.14781847e-02 1.84882210e+01] [ 1.15517325e-01 -5.68382864e-04 9.93305303e-01 1.93927150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46863999999997 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:209.42, Y:18.51, Z:19.40 [[ 9.24650397e-01 -3.65238606e-01 -1.07807251e-01 2.09420611e+02] [ 3.62874121e-01 9.30913638e-01 -4.14990552e-02 1.85099013e+01] [ 1.15516297e-01 -7.48343432e-04 9.93305303e-01 1.94002045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:209.48, Y:18.53, Z:19.41 [[ 9.24006286e-01 -3.66866655e-01 -1.07801858e-01 2.09475836e+02] [ 3.64511571e-01 9.30273068e-01 -4.15130594e-02 1.85283577e+01] [ 1.15514922e-01 -9.36696758e-04 9.93305303e-01 1.94059520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58863999999997 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:209.53, Y:18.55, Z:19.41 [[ 9.23761269e-01 -3.67484737e-01 -1.07796507e-01 2.09529889e+02] [ 3.65132226e-01 9.30029016e-01 -4.15269496e-02 1.85495689e+01] [ 1.15514399e-01 -9.98990806e-04 9.93305303e-01 1.94118121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64863999999997 meters Centerline goodness : 0.995392 with order 1 Centerline is valid? [True, True] Translation: X:209.58, Y:18.57, Z:19.44 [[ 9.23222785e-01 -3.68837420e-01 -1.07789831e-01 2.09583282e+02] [ 3.66492070e-01 9.29493215e-01 -4.15442714e-02 1.85673819e+01] [ 1.15512998e-01 -1.14950026e-03 9.93305303e-01 1.94400508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70863999999997 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:209.64, Y:18.59, Z:19.43 [[ 9.24813789e-01 -3.64831025e-01 -1.07785799e-01 2.09640768e+02] [ 3.62457291e-01 9.31073529e-01 -4.15547302e-02 1.85878391e+01] [ 1.15516959e-01 -6.37361122e-04 9.93305304e-01 1.94266914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76863999999998 meters Centerline goodness : 0.990427 with order 1 Centerline is valid? [True, True] Translation: X:209.69, Y:18.61, Z:19.46 [[ 9.24653136e-01 -3.65239594e-01 -1.07780416e-01 2.09693155e+02] [ 3.62866998e-01 9.30913307e-01 -4.15686866e-02 1.86071732e+01] [ 1.15516754e-01 -6.73339638e-04 9.93305304e-01 1.94609377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:209.75, Y:18.63, Z:19.44 [[ 9.25090741e-01 -3.64132611e-01 -1.07770875e-01 2.09751544e+02] [ 3.61749645e-01 9.31346972e-01 -4.15934075e-02 1.86302128e+01] [ 1.15517594e-01 -5.08399632e-04 9.93305304e-01 1.94406878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88863999999998 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:209.81, Y:18.65, Z:19.45 [[ 9.24266181e-01 -3.66221343e-01 -1.07768060e-01 2.09807262e+02] [ 3.63851664e-01 9.30527457e-01 -4.16007013e-02 1.86489131e+01] [ 1.15516203e-01 -7.61466426e-04 9.93305304e-01 1.94468876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94863999999998 meters Centerline goodness : 0.993770 with order 1 Centerline is valid? [True, True] Translation: X:209.86, Y:18.67, Z:19.48 [[ 9.23183300e-01 -3.68944179e-01 -1.07762644e-01 2.09860164e+02] [ 3.66591330e-01 9.29450919e-01 -4.16147243e-02 1.86673122e+01] [ 1.15513599e-01 -1.08683260e-03 9.93305304e-01 1.94758946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00863999999999 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:209.92, Y:18.68, Z:19.46 [[ 9.21197108e-01 -3.73877333e-01 -1.07757263e-01 2.09918793e+02] [ 3.71556416e-01 9.27476622e-01 -4.16286541e-02 1.86847532e+01] [ 1.15506353e-01 -1.68970673e-03 9.93305304e-01 1.94599484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:209.98, Y:18.70, Z:19.47 [[ 9.21077313e-01 -3.74173938e-01 -1.07751786e-01 2.09975171e+02] [ 3.71853385e-01 9.27356962e-01 -4.16428264e-02 1.87015750e+01] [ 1.15506029e-01 -1.71160370e-03 9.93305304e-01 1.94660226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12864 meters Centerline goodness : 0.995035 with order 1 Centerline is valid? [True, True] Translation: X:210.03, Y:18.72, Z:19.50 [[ 9.21392837e-01 -3.73397817e-01 -1.07746509e-01 2.10029699e+02] [ 3.71070379e-01 9.27669937e-01 -4.16564766e-02 1.87179137e+01] [ 1.15507634e-01 -1.59955865e-03 9.93305304e-01 1.94954388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:210.09, Y:18.74, Z:19.48 [[ 9.22076587e-01 -3.71706910e-01 -1.07743864e-01 2.10087813e+02] [ 3.69367162e-01 9.28349109e-01 -4.16633162e-02 1.87371174e+01] [ 1.15510462e-01 -1.38027672e-03 9.93305304e-01 1.94774262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24863999999997 meters Centerline goodness : 0.993318 with order 1 Centerline is valid? [True, True] Translation: X:210.14, Y:18.76, Z:19.51 [[ 9.22379047e-01 -3.70957307e-01 -1.07738431e-01 2.10139574e+02] [ 3.68610821e-01 9.28649051e-01 -4.16773600e-02 1.87561665e+01] [ 1.15511713e-01 -1.27122791e-03 9.93305305e-01 1.95119809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30863999999997 meters Centerline goodness : 0.992830 with order 1 Centerline is valid? [True, True] Translation: X:210.19, Y:18.78, Z:19.52 [[ 9.22818541e-01 -3.69864198e-01 -1.07733076e-01 2.10194189e+02] [ 3.67508670e-01 9.29085153e-01 -4.16911978e-02 1.87764732e+01] [ 1.15513283e-01 -1.11942916e-03 9.93305305e-01 1.95168490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36863999999997 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:210.25, Y:18.80, Z:19.50 [[ 9.22035804e-01 -3.71812790e-01 -1.07727555e-01 2.10251127e+02] [ 3.69468838e-01 9.28306755e-01 -4.17054601e-02 1.87983521e+01] [ 1.15510840e-01 -1.34804705e-03 9.93305305e-01 1.94967001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42863999999997 meters Centerline goodness : 0.994157 with order 1 Centerline is valid? [True, True] Translation: X:210.30, Y:18.82, Z:19.53 [[ 9.21642392e-01 -3.72788880e-01 -1.07720711e-01 2.10303751e+02] [ 3.70449505e-01 9.27915052e-01 -4.17231288e-02 1.88168361e+01] [ 1.15509588e-01 -1.45127990e-03 9.93305305e-01 1.95279227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48863999999998 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:210.36, Y:18.84, Z:19.51 [[ 9.20944789e-01 -3.74510480e-01 -1.07715347e-01 2.10361178e+02] [ 3.72181212e-01 9.27221209e-01 -4.17369722e-02 1.88386400e+01] [ 1.15506888e-01 -1.65218137e-03 9.93305305e-01 1.95123528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:210.42, Y:18.86, Z:19.52 [[ 9.20986634e-01 -3.74409116e-01 -1.07709954e-01 2.10415959e+02] [ 3.72077531e-01 9.27262193e-01 -4.17508853e-02 1.88578908e+01] [ 1.15507280e-01 -1.62444649e-03 9.93305305e-01 1.95194377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:210.47, Y:18.88, Z:19.53 [[ 9.21335669e-01 -3.73550941e-01 -1.07704599e-01 2.10471482e+02] [ 3.71211895e-01 9.27608451e-01 -4.17646961e-02 1.88771698e+01] [ 1.15508937e-01 -1.50192397e-03 9.93305305e-01 1.95260729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:210.53, Y:18.90, Z:19.53 [[ 9.20910985e-01 -3.74598225e-01 -1.07699245e-01 2.10526085e+02] [ 3.72264700e-01 9.27185823e-01 -4.17784959e-02 1.88964509e+01] [ 1.15507364e-01 -1.61835143e-03 9.93305305e-01 1.95335175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:210.58, Y:18.91, Z:19.54 [[ 9.21137717e-01 -3.74042658e-01 -1.07691205e-01 2.10581853e+02] [ 3.71702927e-01 9.27410244e-01 -4.17992112e-02 1.89139953e+01] [ 1.15508615e-01 -1.52630609e-03 9.93305306e-01 1.95396502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78864 meters Centerline goodness : 0.996220 with order 1 Centerline is valid? [True, True] Translation: X:210.64, Y:18.93, Z:19.57 [[ 9.21755570e-01 -3.72519023e-01 -1.07685869e-01 2.10635837e+02] [ 3.70167318e-01 9.28023617e-01 -4.18129528e-02 1.89304343e+01] [ 1.15511150e-01 -1.32046725e-03 9.93305306e-01 1.95669422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:210.69, Y:18.95, Z:19.56 [[ 9.22283515e-01 -3.71211573e-01 -1.07680480e-01 2.10692881e+02] [ 3.68849362e-01 9.28547610e-01 -4.18268281e-02 1.89507547e+01] [ 1.15513055e-01 -1.14168220e-03 9.93305306e-01 1.95556656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90864 meters Centerline goodness : 0.995434 with order 1 Centerline is valid? [True, True] Translation: X:210.75, Y:18.97, Z:19.58 [[ 9.23077564e-01 -3.69238293e-01 -1.07661014e-01 2.10745904e+02] [ 3.66856854e-01 9.29334373e-01 -4.18768732e-02 1.89684075e+01] [ 1.15515626e-01 -8.40578751e-04 9.93305307e-01 1.95833700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96863999999997 meters Centerline goodness : 0.996364 with order 1 Centerline is valid? [True, True] Translation: X:210.80, Y:18.99, Z:19.59 [[ 9.22232536e-01 -3.71345435e-01 -1.07655553e-01 2.10801806e+02] [ 3.68976653e-01 9.28494147e-01 -4.18909062e-02 1.89866633e+01] [ 1.15513548e-01 -1.08922911e-03 9.93305307e-01 1.95885905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:210.86, Y:19.00, Z:19.58 [[ 9.20689688e-01 -3.75159967e-01 -1.07635951e-01 2.10860187e+02] [ 3.72811245e-01 9.26958850e-01 -4.19412141e-02 1.90034695e+01] [ 1.15508762e-01 -1.51304945e-03 9.93305309e-01 1.95775295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08863999999997 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:210.92, Y:19.02, Z:19.58 [[ 9.21304722e-01 -3.73652643e-01 -1.07616505e-01 2.10915718e+02] [ 3.71287843e-01 9.27567835e-01 -4.19910497e-02 1.90187263e+01] [ 1.15511676e-01 -1.27014793e-03 9.93305310e-01 1.95843169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:210.97, Y:19.04, Z:19.59 [[ 9.23160239e-01 -3.69050895e-01 -1.07594658e-01 2.10969408e+02] [ 3.66648357e-01 9.29408971e-01 -4.20469565e-02 1.90385997e+01] [ 1.15516907e-01 -6.33326102e-04 9.93305312e-01 1.95910615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:211.02, Y:19.06, Z:19.60 [[ 9.23677758e-01 -3.67760187e-01 -1.07572508e-01 2.11024392e+02] [ 3.65342326e-01 9.29920575e-01 -4.21035492e-02 1.90585560e+01] [ 1.15517898e-01 -4.10678330e-04 9.93305314e-01 1.95983191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26863999999998 meters Centerline goodness : 0.996413 with order 1 Centerline is valid? [True, True] Translation: X:211.08, Y:19.08, Z:19.62 [[ 9.23572402e-01 -3.68030416e-01 -1.07552922e-01 2.11076376e+02] [ 3.65608562e-01 9.29813670e-01 -4.21535232e-02 1.90799147e+01] [ 1.15517955e-01 -3.90438289e-04 9.93305315e-01 1.96239153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32863999999998 meters Centerline goodness : 0.996067 with order 1 Centerline is valid? [True, True] Translation: X:211.13, Y:19.10, Z:19.63 [[ 9.24143792e-01 -3.66599034e-01 -1.07533254e-01 2.11128415e+02] [ 3.64161681e-01 9.30379021e-01 -4.22036352e-02 1.91034565e+01] [ 1.15518496e-01 -1.57263197e-04 9.93305317e-01 1.96315287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38863999999998 meters Centerline goodness : 0.995175 with order 1 Centerline is valid? [True, True] Translation: X:211.18, Y:19.13, Z:19.64 [[ 9.24375174e-01 -3.66021968e-01 -1.07510260e-01 2.11180755e+02] [ 3.63573918e-01 9.30606210e-01 -4.22621318e-02 1.91294430e+01] [ 1.15518584e-01 -2.18608092e-05 9.93305319e-01 1.96403573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44863999999998 meters Centerline goodness : 0.997249 with order 1 Centerline is valid? [True, True] Translation: X:211.23, Y:19.16, Z:19.64 [[ 9.25388653e-01 -3.63458000e-01 -1.07490109e-01 2.11233872e+02] [ 3.60986739e-01 9.31610518e-01 -4.23133223e-02 1.91558368e+01] [ 1.15518031e-01 3.53764535e-04 9.93305320e-01 1.96438126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:211.29, Y:19.19, Z:19.63 [[ 9.26044919e-01 -3.61788566e-01 -1.07470191e-01 2.11286702e+02] [ 3.59300224e-01 9.32259971e-01 -4.23638511e-02 1.91871589e+01] [ 1.15516914e-01 6.16765429e-04 9.93305322e-01 1.96313678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.34, Y:19.21, Z:19.64 [[ 9.26075533e-01 -3.61716233e-01 -1.07449869e-01 2.11338422e+02] [ 3.59221432e-01 9.32287993e-01 -4.24153332e-02 1.92120449e+01] [ 1.15516537e-01 6.81506555e-04 9.93305323e-01 1.96376628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62864 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:211.39, Y:19.24, Z:19.64 [[ 9.25340224e-01 -3.63599904e-01 -1.07427091e-01 2.11390130e+02] [ 3.61111061e-01 9.31555071e-01 -4.24729469e-02 1.92402335e+01] [ 1.15517410e-01 5.08815539e-04 9.93305325e-01 1.96448606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:211.44, Y:19.27, Z:19.65 [[ 9.24451906e-01 -3.65858417e-01 -1.07407131e-01 2.11443278e+02] [ 3.63378899e-01 9.30670478e-01 -4.25233611e-02 1.92659923e+01] [ 1.15518176e-01 2.81317006e-04 9.93305327e-01 1.96500894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.50, Y:19.29, Z:19.65 [[ 9.22310951e-01 -3.71224240e-01 -1.07401460e-01 2.11497143e+02] [ 3.68779232e-01 9.28543173e-01 -4.25376796e-02 1.92884900e+01] [ 1.15517910e-01 -3.74460307e-04 9.93305327e-01 1.96538047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.55, Y:19.31, Z:19.66 [[ 9.20350222e-01 -3.76060651e-01 -1.07395793e-01 2.11550965e+02] [ 3.73646723e-01 9.26594547e-01 -4.25519836e-02 1.93106900e+01] [ 1.15514483e-01 -9.65358524e-04 9.93305327e-01 1.96613314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.61, Y:19.33, Z:19.67 [[ 9.19078035e-01 -3.79160783e-01 -1.07390254e-01 2.11605441e+02] [ 3.76766284e-01 9.25329836e-01 -4.25659581e-02 1.93304547e+01] [ 1.15510748e-01 -1.33958973e-03 9.93305327e-01 1.96694758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:211.66, Y:19.35, Z:19.68 [[ 9.18309594e-01 -3.81019684e-01 -1.07384776e-01 2.11658778e+02] [ 3.78636225e-01 9.24565613e-01 -4.25797720e-02 1.93537290e+01] [ 1.15508003e-01 -1.55835327e-03 9.93305327e-01 1.96764157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.71, Y:19.38, Z:19.68 [[ 9.18811573e-01 -3.79809131e-01 -1.07379316e-01 2.11711551e+02] [ 3.77415821e-01 9.25063829e-01 -4.25935386e-02 1.93773367e+01] [ 1.15510136e-01 -1.39121644e-03 9.93305327e-01 1.96842207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04863999999998 meters Centerline goodness : 0.995142 with order 1 Centerline is valid? [True, True] Translation: X:211.76, Y:19.40, Z:19.71 [[ 9.18956283e-01 -3.79461764e-01 -1.07369077e-01 2.11762503e+02] [ 3.77063078e-01 9.25206479e-01 -4.26193328e-02 1.94002351e+01] [ 1.15510973e-01 -1.31961087e-03 9.93305328e-01 1.97145501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10863999999998 meters Centerline goodness : 0.994308 with order 1 Centerline is valid? [True, True] Translation: X:211.82, Y:19.42, Z:19.72 [[ 9.19367341e-01 -3.78466315e-01 -1.07363593e-01 2.11815838e+02] [ 3.76059248e-01 9.25614313e-01 -4.26331439e-02 1.94239657e+01] [ 1.15512487e-01 -1.17955173e-03 9.93305328e-01 1.97207675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:211.87, Y:19.45, Z:19.70 [[ 9.19726745e-01 -3.77593661e-01 -1.07358007e-01 2.11871732e+02] [ 3.75179025e-01 9.25970796e-01 -4.26472051e-02 1.94489658e+01] [ 1.15513693e-01 -1.05469724e-03 9.93305328e-01 1.97020129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22863999999998 meters Centerline goodness : 0.994853 with order 1 Centerline is valid? [True, True] Translation: X:211.92, Y:19.47, Z:19.73 [[ 9.18807649e-01 -3.79826212e-01 -1.07352467e-01 2.11924172e+02] [ 3.77425119e-01 9.25056920e-01 -4.26611457e-02 1.94684801e+01] [ 1.15510964e-01 -1.32013067e-03 9.93305328e-01 1.97320567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:211.98, Y:19.49, Z:19.72 [[ 9.17490717e-01 -3.82997537e-01 -1.07348360e-01 2.11980138e+02] [ 3.80616835e-01 9.23747785e-01 -4.26714781e-02 1.94928012e+01] [ 1.15505881e-01 -1.70790792e-03 9.93305328e-01 1.97159611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:212.04, Y:19.51, Z:19.72 [[ 9.17040683e-01 -3.84075394e-01 -1.07342805e-01 2.12036321e+02] [ 3.81700411e-01 9.23299923e-01 -4.26854465e-02 1.95090327e+01] [ 1.15504034e-01 -1.82850195e-03 9.93305328e-01 1.97214981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:212.09, Y:19.53, Z:19.73 [[ 9.16693105e-01 -3.84905763e-01 -1.07337339e-01 2.12092158e+02] [ 3.82534842e-01 9.22953885e-01 -4.26991871e-02 1.95260807e+01] [ 1.15502578e-01 -1.91822172e-03 9.93305328e-01 1.97287629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46863999999997 meters Centerline goodness : 0.992778 with order 1 Centerline is valid? [True, True] Translation: X:212.15, Y:19.54, Z:19.76 [[ 9.16111636e-01 -3.86289169e-01 -1.07331954e-01 2.12147091e+02] [ 3.83926117e-01 9.22375390e-01 -4.27127198e-02 1.95380923e+01] [ 1.15499814e-01 -2.07792079e-03 9.93305328e-01 1.97635369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52863999999997 meters Centerline goodness : 0.994457 with order 1 Centerline is valid? [True, True] Translation: X:212.20, Y:19.56, Z:19.77 [[ 9.17790728e-01 -3.82283831e-01 -1.07327779e-01 2.12203257e+02] [ 3.79892214e-01 9.24043631e-01 -4.27232080e-02 1.95568356e+01] [ 1.15507942e-01 -1.56202341e-03 9.93305328e-01 1.97667950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58863999999997 meters Centerline goodness : 0.994448 with order 1 Centerline is valid? [True, True] Translation: X:212.26, Y:19.57, Z:19.77 [[ 9.17161412e-01 -3.83792907e-01 -1.07321705e-01 2.12258844e+02] [ 3.81409795e-01 9.23417561e-01 -4.27384604e-02 1.95742129e+01] [ 1.15505465e-01 -1.73548285e-03 9.93305328e-01 1.97736877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:212.32, Y:19.59, Z:19.76 [[ 9.17105786e-01 -3.83927380e-01 -1.07316096e-01 2.12317776e+02] [ 3.81543537e-01 9.23361657e-01 -4.27525403e-02 1.95905154e+01] [ 1.15505439e-01 -1.73716082e-03 9.93305329e-01 1.97573648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70863999999997 meters Centerline goodness : 0.994893 with order 1 Centerline is valid? [True, True] Translation: X:212.37, Y:19.61, Z:19.78 [[ 9.17124432e-01 -3.83884414e-01 -1.07310453e-01 2.12370308e+02] [ 3.81498622e-01 9.23379560e-01 -4.27667008e-02 1.96098216e+01] [ 1.15505748e-01 -1.71640358e-03 9.93305329e-01 1.97849726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:212.43, Y:19.63, Z:19.77 [[ 9.15651175e-01 -3.87386852e-01 -1.07304949e-01 2.12428130e+02] [ 3.85023368e-01 9.21914765e-01 -4.27805043e-02 1.96290698e+01] [ 1.15498622e-01 -2.14289393e-03 9.93305329e-01 1.97718823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:212.48, Y:19.65, Z:19.78 [[ 9.13907387e-01 -3.91484509e-01 -1.07299426e-01 2.12483829e+02] [ 3.89147480e-01 9.20180896e-01 -4.27943539e-02 1.96469812e+01] [ 1.15488208e-01 -2.64522493e-03 9.93305329e-01 1.97797626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:212.54, Y:19.66, Z:19.79 [[ 9.13430454e-01 -3.92597525e-01 -1.07293941e-01 2.12540402e+02] [ 3.90266527e-01 9.19706206e-01 -4.28081018e-02 1.96638195e+01] [ 1.15485258e-01 -2.77100968e-03 9.93305329e-01 1.97854831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:212.59, Y:19.68, Z:19.79 [[ 9.13765094e-01 -3.91823230e-01 -1.07274922e-01 2.12594550e+02] [ 3.89481327e-01 9.20036784e-01 -4.28557082e-02 1.96838710e+01] [ 1.15488737e-01 -2.62152892e-03 9.93305330e-01 1.97936511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:212.65, Y:19.70, Z:19.80 [[ 9.13049642e-01 -3.93489737e-01 -1.07266852e-01 2.12650164e+02] [ 3.91156911e-01 9.19324713e-01 -4.28758997e-02 1.97005524e+01] [ 1.15484294e-01 -2.81034537e-03 9.93305331e-01 1.97993970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:212.71, Y:19.72, Z:19.81 [[ 9.12064560e-01 -3.95773588e-01 -1.07245067e-01 2.12706383e+02] [ 3.93450079e-01 9.18343086e-01 -4.29303198e-02 1.97172910e+01] [ 1.15478453e-01 -3.04035694e-03 9.93305332e-01 1.98083640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:212.76, Y:19.73, Z:19.81 [[ 9.10912127e-01 -3.98423962e-01 -1.07226132e-01 2.12763325e+02] [ 3.96113163e-01 9.17195340e-01 -4.29775636e-02 1.97310110e+01] [ 1.15470599e-01 -3.32489828e-03 9.93305334e-01 1.98149358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:212.82, Y:19.74, Z:19.82 [[ 9.09921321e-01 -4.00686679e-01 -1.07207160e-01 2.12821314e+02] [ 3.98385938e-01 9.16208223e-01 -4.30248363e-02 1.97444626e+01] [ 1.15463560e-01 -3.56060915e-03 9.93305335e-01 1.98221260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:212.88, Y:19.76, Z:19.83 [[ 9.09086855e-01 -4.02581373e-01 -1.07188288e-01 2.12879785e+02] [ 4.00288203e-01 9.15376521e-01 -4.30718020e-02 1.97555731e+01] [ 1.15457547e-01 -3.75019812e-03 9.93305336e-01 1.98288430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:212.94, Y:19.77, Z:19.84 [[ 9.09631984e-01 -4.01353135e-01 -1.07169558e-01 2.12936596e+02] [ 3.99045993e-01 9.15916537e-01 -4.31183538e-02 1.97684171e+01] [ 1.15464057e-01 -3.54374922e-03 9.93305337e-01 1.98363551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36863999999997 meters Centerline goodness : 0.994748 with order 1 Centerline is valid? [True, True] Translation: X:212.99, Y:19.78, Z:19.87 [[ 9.10590084e-01 -3.99180439e-01 -1.07147912e-01 2.12990948e+02] [ 3.96851985e-01 9.16866770e-01 -4.31720780e-02 1.97816470e+01] [ 1.15473809e-01 -3.20979537e-03 9.93305339e-01 1.98695217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.05, Y:19.80, Z:19.85 [[ 9.13561131e-01 -3.92338191e-01 -1.07129847e-01 2.13048559e+02] [ 3.89957466e-01 9.19818176e-01 -4.32168607e-02 1.98027364e+01] [ 1.15495605e-01 -2.29483941e-03 9.93305340e-01 1.98508003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:213.10, Y:19.82, Z:19.86 [[ 9.16323213e-01 -3.85848797e-01 -1.07109641e-01 2.13103956e+02] [ 3.83417906e-01 9.22560939e-01 -4.32668807e-02 1.98226533e+01] [ 1.15509645e-01 -1.42130722e-03 9.93305342e-01 1.98576056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:213.16, Y:19.84, Z:19.87 [[ 9.17619260e-01 -3.82761819e-01 -1.07090074e-01 2.13158385e+02] [ 3.80304297e-01 9.23846540e-01 -4.33152581e-02 1.98439112e+01] [ 1.15514221e-01 -9.79900166e-04 9.93305343e-01 1.98663218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60863999999998 meters Centerline goodness : 0.993717 with order 1 Centerline is valid? [True, True] Translation: X:213.21, Y:19.86, Z:19.90 [[ 9.17471077e-01 -3.83122465e-01 -1.07070068e-01 2.13210337e+02] [ 3.80661627e-01 9.23697046e-01 -4.33646552e-02 1.98646603e+01] [ 1.15514279e-01 -9.71649302e-04 9.93305344e-01 1.98986166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66863999999998 meters Centerline goodness : 0.991560 with order 1 Centerline is valid? [True, True] Translation: X:213.26, Y:19.89, Z:19.91 [[ 9.19298667e-01 -3.78721499e-01 -1.07051334e-01 2.13263906e+02] [ 3.76225473e-01 9.25510611e-01 -4.34108531e-02 1.98909450e+01] [ 1.15517769e-01 -3.67899410e-04 9.93305346e-01 1.99057775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72863999999998 meters Centerline goodness : 0.994303 with order 1 Centerline is valid? [True, True] Translation: X:213.32, Y:19.92, Z:19.91 [[ 9.20254876e-01 -3.76392468e-01 -1.07049862e-01 2.13317669e+02] [ 3.73880299e-01 9.26460309e-01 -4.34144832e-02 1.99182835e+01] [ 1.15518333e-01 -7.14444157e-05 9.93305346e-01 1.99102169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78864 meters Centerline goodness : 0.994894 with order 1 Centerline is valid? [True, True] Translation: X:213.37, Y:19.95, Z:19.92 [[ 9.20100210e-01 -3.76770822e-01 -1.07048356e-01 2.13369159e+02] [ 3.74260772e-01 9.26306501e-01 -4.34181951e-02 1.99456899e+01] [ 1.15518297e-01 -1.14910016e-04 9.93305346e-01 1.99156079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.42, Y:19.97, Z:19.90 [[ 9.18966961e-01 -3.79529700e-01 -1.07037057e-01 2.13424943e+02] [ 3.77035040e-01 9.25179453e-01 -4.34460342e-02 1.99713004e+01] [ 1.15517546e-01 -4.31250874e-04 9.93305346e-01 1.98996844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:213.48, Y:19.99, Z:19.91 [[ 9.16633590e-01 -3.85136849e-01 -1.07016207e-01 2.13479205e+02] [ 3.82674201e-01 9.22858840e-01 -4.34973305e-02 1.99937581e+01] [ 1.15513277e-01 -1.08122721e-03 9.93305348e-01 1.99067906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96863999999997 meters Centerline goodness : 0.995976 with order 1 Centerline is valid? [True, True] Translation: X:213.53, Y:20.01, Z:19.94 [[ 9.14262088e-01 -3.90738765e-01 -1.06995575e-01 2.13533313e+02] [ 3.88308325e-01 9.20499981e-01 -4.35480238e-02 2.00090916e+01] [ 1.15505325e-01 -1.73296523e-03 9.93305349e-01 1.99355488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.59, Y:20.03, Z:19.92 [[ 9.13972326e-01 -3.91421558e-01 -1.06975469e-01 2.13590826e+02] [ 3.88990005e-01 9.20209784e-01 -4.35973567e-02 2.00291466e+01] [ 1.15504819e-01 -1.76561086e-03 9.93305351e-01 1.99190883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:213.65, Y:20.05, Z:19.93 [[ 9.13890532e-01 -3.91617993e-01 -1.06955333e-01 2.13645634e+02] [ 3.89182007e-01 9.20126258e-01 -4.36467008e-02 2.00463453e+01] [ 1.15505244e-01 -1.73678460e-03 9.93305352e-01 1.99258426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:213.70, Y:20.06, Z:19.93 [[ 9.14260984e-01 -3.90758586e-01 -1.06932600e-01 2.13701317e+02] [ 3.88310232e-01 9.20491863e-01 -4.37023255e-02 2.00622123e+01] [ 1.15507647e-01 -1.56769162e-03 9.93305354e-01 1.99333735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20863999999997 meters Centerline goodness : 0.996567 with order 1 Centerline is valid? [True, True] Translation: X:213.76, Y:20.08, Z:19.96 [[ 9.13836443e-01 -3.91756651e-01 -1.06909694e-01 2.13755121e+02] [ 3.89308556e-01 9.20067422e-01 -4.37582902e-02 2.00775197e+01] [ 1.15506728e-01 -1.63293823e-03 9.93305356e-01 1.99620365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26863999999998 meters Centerline goodness : 0.996222 with order 1 Centerline is valid? [True, True] Translation: X:213.81, Y:20.09, Z:19.97 [[ 9.13813670e-01 -3.91815279e-01 -1.06889492e-01 2.13810764e+02] [ 3.89361819e-01 9.20042537e-01 -4.38075836e-02 2.00944088e+01] [ 1.15507360e-01 -1.58671816e-03 9.93305357e-01 1.99690999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32863999999998 meters Centerline goodness : 0.996071 with order 1 Centerline is valid? [True, True] Translation: X:213.87, Y:20.11, Z:19.98 [[ 9.15389248e-01 -3.88122023e-01 -1.06882274e-01 2.13866240e+02] [ 3.85641375e-01 9.21607337e-01 -4.38251856e-02 2.01126133e+01] [ 1.15513008e-01 -1.10112359e-03 9.93305357e-01 1.99771380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38863999999998 meters Centerline goodness : 0.995479 with order 1 Centerline is valid? [True, True] Translation: X:213.92, Y:20.13, Z:19.98 [[ 9.16631541e-01 -3.85184611e-01 -1.06861750e-01 2.13921020e+02] [ 3.82678208e-01 9.22839292e-01 -4.38751735e-02 2.01335333e+01] [ 1.15516264e-01 -6.76295286e-04 9.93305359e-01 1.99849412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44863999999998 meters Centerline goodness : 0.994549 with order 1 Centerline is valid? [True, True] Translation: X:213.98, Y:20.15, Z:19.99 [[ 9.17132474e-01 -3.83996167e-01 -1.06840858e-01 2.13977146e+02] [ 3.81475800e-01 9.23334566e-01 -4.39259897e-02 2.01520434e+01] [ 1.15517269e-01 -4.71250247e-04 9.93305360e-01 1.99903300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:214.03, Y:20.17, Z:19.98 [[ 9.17104699e-01 -3.84068344e-01 -1.06819843e-01 2.14034800e+02] [ 3.81542518e-01 9.23304569e-01 -4.39770374e-02 2.01725218e+01] [ 1.15517437e-01 -4.24764066e-04 9.93305362e-01 1.99775944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:214.09, Y:20.19, Z:19.98 [[ 9.17518600e-01 -3.83084495e-01 -1.06798357e-01 2.14090207e+02] [ 3.80545954e-01 9.23713273e-01 -4.40291549e-02 2.01925534e+01] [ 1.15517946e-01 -2.44113957e-04 9.93305363e-01 1.99842534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:214.14, Y:20.21, Z:19.99 [[ 9.18459268e-01 -3.80829624e-01 -1.06777200e-01 2.14144478e+02] [ 3.78269917e-01 9.24645223e-01 -4.40804027e-02 2.02144275e+01] [ 1.15518151e-01 9.54517088e-05 9.93305365e-01 1.99936205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68864 meters Centerline goodness : 0.989245 with order 1 Centerline is valid? [True, True] Translation: X:214.20, Y:20.23, Z:20.02 [[ 9.18653803e-01 -3.80366001e-01 -1.06756247e-01 2.14197036e+02] [ 3.77797280e-01 9.24836019e-01 -4.41310912e-02 2.02347301e+01] [ 1.15517989e-01 2.08975047e-04 9.93305366e-01 2.00239198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74863999999997 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:214.25, Y:20.26, Z:20.01 [[ 9.19332849e-01 -3.78722669e-01 -1.06753234e-01 2.14254370e+02] [ 3.76142052e-01 9.25510108e-01 -4.41383768e-02 2.02590415e+01] [ 1.15517401e-01 4.23479045e-04 9.93305366e-01 2.00067636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80863999999997 meters Centerline goodness : 0.992293 with order 1 Centerline is valid? [True, True] Translation: X:214.30, Y:20.28, Z:20.04 [[ 9.20409685e-01 -3.76098927e-01 -1.06750219e-01 2.14304107e+02] [ 3.73499855e-01 9.26579202e-01 -4.41456695e-02 2.02815142e+01] [ 1.15515671e-01 7.60910570e-04 9.93305366e-01 2.00355797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86863999999997 meters Centerline goodness : 0.987973 with order 1 Centerline is valid? [True, True] Translation: X:214.36, Y:20.31, Z:20.05 [[ 9.20791135e-01 -3.75170910e-01 -1.06726167e-01 2.14356345e+02] [ 3.72558889e-01 9.26955179e-01 -4.42037396e-02 2.03079854e+01] [ 1.15514331e-01 9.40629116e-04 9.93305368e-01 2.00464180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:214.41, Y:20.34, Z:20.03 [[ 9.22839626e-01 -3.70109096e-01 -1.06706519e-01 2.14411239e+02] [ 3.67457789e-01 9.28986874e-01 -4.42511201e-02 2.03373814e+01] [ 1.15506698e-01 1.62654560e-03 9.93305370e-01 2.00280922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98863999999998 meters Centerline goodness : 0.990082 with order 1 Centerline is valid? [True, True] Translation: X:214.46, Y:20.37, Z:20.06 [[ 9.22557964e-01 -3.70811045e-01 -1.06705067e-01 2.14459795e+02] [ 3.68164011e-01 9.28707053e-01 -4.42546214e-02 2.03670767e+01] [ 1.15507851e-01 1.54248797e-03 9.93305370e-01 2.00561260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04863999999998 meters Centerline goodness : 0.990226 with order 1 Centerline is valid? [True, True] Translation: X:214.51, Y:20.40, Z:20.06 [[ 9.22517337e-01 -3.70918160e-01 -1.06684031e-01 2.14510606e+02] [ 3.68265982e-01 9.28664207e-01 -4.43052756e-02 2.03966841e+01] [ 1.15507272e-01 1.58428546e-03 9.93305371e-01 2.00618938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10863999999998 meters Centerline goodness : 0.991560 with order 1 Centerline is valid? [True, True] Translation: X:214.56, Y:20.43, Z:20.07 [[ 9.22845702e-01 -3.70106510e-01 -1.06662934e-01 2.14563022e+02] [ 3.67443064e-01 9.28987696e-01 -4.43560072e-02 2.04251117e+01] [ 1.15505000e-01 1.74119530e-03 9.93305373e-01 2.00655444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16863999999998 meters Centerline goodness : 0.992042 with order 1 Centerline is valid? [True, True] Translation: X:214.61, Y:20.45, Z:20.07 [[ 9.21358138e-01 -3.73795616e-01 -1.06658422e-01 2.14613500e+02] [ 3.71155508e-01 9.27510200e-01 -4.43668542e-02 2.04548270e+01] [ 1.15510910e-01 1.29090137e-03 9.93305373e-01 2.00725981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22863999999998 meters Centerline goodness : 0.991746 with order 1 Centerline is valid? [True, True] Translation: X:214.66, Y:20.48, Z:20.08 [[ 9.19457166e-01 -3.78453460e-01 -1.06637232e-01 2.14664899e+02] [ 3.75838619e-01 9.25620007e-01 -4.44177264e-02 2.04833285e+01] [ 1.15515598e-01 7.61806722e-04 9.93305374e-01 2.00807022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28864 meters Centerline goodness : 0.992971 with order 1 Centerline is valid? [True, True] Translation: X:214.72, Y:20.51, Z:20.09 [[ 9.17450609e-01 -3.83298066e-01 -1.06616009e-01 2.14715632e+02] [ 3.80709854e-01 9.23624680e-01 -4.44686102e-02 2.05110728e+01] [ 1.15517910e-01 2.07988181e-04 9.93305376e-01 2.00880503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34864 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:214.77, Y:20.54, Z:20.07 [[ 9.14982765e-01 -3.89159025e-01 -1.06591708e-01 2.14771148e+02] [ 3.86603584e-01 9.21170470e-01 -4.45267847e-02 2.05355707e+01] [ 1.15517134e-01 -4.67495857e-04 9.93305378e-01 2.00729439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40864 meters Centerline goodness : 0.990774 with order 1 Centerline is valid? [True, True] Translation: X:214.82, Y:20.56, Z:20.10 [[ 9.12607727e-01 -3.94698160e-01 -1.06585643e-01 2.14823783e+02] [ 3.92178578e-01 9.18810119e-01 -4.45412995e-02 2.05562329e+01] [ 1.15512336e-01 -1.15187166e-03 9.93305378e-01 2.01015381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46863999999997 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:214.88, Y:20.58, Z:20.09 [[ 9.12596379e-01 -3.94725192e-01 -1.06582696e-01 2.14879799e+02] [ 3.92204970e-01 9.18798512e-01 -4.45483502e-02 2.05796208e+01] [ 1.15512378e-01 -1.14759989e-03 9.93305378e-01 2.00862374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52863999999997 meters Centerline goodness : 0.990534 with order 1 Centerline is valid? [True, True] Translation: X:214.93, Y:20.60, Z:20.11 [[ 9.12396934e-01 -3.95187584e-01 -1.06576771e-01 2.14931724e+02] [ 3.92668850e-01 9.18599671e-01 -4.45625203e-02 2.06000992e+01] [ 1.15511941e-01 -1.19067116e-03 9.93305378e-01 2.01146932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58863999999997 meters Centerline goodness : 0.990421 with order 1 Centerline is valid? [True, True] Translation: X:214.99, Y:20.62, Z:20.12 [[ 9.13606106e-01 -3.92389695e-01 -1.06556138e-01 2.14985963e+02] [ 3.89846216e-01 9.19798736e-01 -4.46118034e-02 2.06224378e+01] [ 1.15515413e-01 -7.82891032e-04 9.93305379e-01 2.01210936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64863999999997 meters Centerline goodness : 0.991107 with order 1 Centerline is valid? [True, True] Translation: X:215.04, Y:20.64, Z:20.13 [[ 9.13269236e-01 -3.93178781e-01 -1.06535201e-01 2.15041060e+02] [ 3.90634827e-01 9.19461669e-01 -4.46617443e-02 2.06419481e+01] [ 1.15515084e-01 -8.28162942e-04 9.93305381e-01 2.01275149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70863999999997 meters Centerline goodness : 0.990779 with order 1 Centerline is valid? [True, True] Translation: X:215.09, Y:20.66, Z:20.14 [[ 9.12693408e-01 -3.94519326e-01 -1.06514054e-01 2.15094588e+02] [ 3.91978588e-01 9.18887160e-01 -4.47121238e-02 2.06623151e+01] [ 1.15514193e-01 -9.42767625e-04 9.93305382e-01 2.01354831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76863999999998 meters Centerline goodness : 0.998088 with order 1 Centerline is valid? [True, True] Translation: X:215.15, Y:20.68, Z:20.12 [[ 9.13529894e-01 -3.92585091e-01 -1.06489808e-01 2.15152447e+02] [ 3.90024515e-01 9.19715469e-01 -4.47697948e-02 2.06846452e+01] [ 1.15516278e-01 -6.35089849e-04 9.93305384e-01 2.01237427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82863999999998 meters Centerline goodness : 0.998327 with order 1 Centerline is valid? [True, True] Translation: X:215.21, Y:20.71, Z:20.13 [[ 9.14455986e-01 -3.90424176e-01 -1.06485736e-01 2.15206526e+02] [ 3.87847855e-01 9.20635020e-01 -4.47794784e-02 2.07051001e+01] [ 1.15517489e-01 -3.51402177e-04 9.93305384e-01 2.01316121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88863999999998 meters Centerline goodness : 0.998430 with order 1 Centerline is valid? [True, True] Translation: X:215.26, Y:20.73, Z:20.14 [[ 9.14059046e-01 -3.91354611e-01 -1.06478303e-01 2.15260368e+02] [ 3.88782522e-01 9.20239842e-01 -4.47971464e-02 2.07275988e+01] [ 1.15517146e-01 -4.49666123e-04 9.93305384e-01 2.01394281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94863999999998 meters Centerline goodness : 0.986697 with order 1 Centerline is valid? [True, True] Translation: X:215.31, Y:20.75, Z:20.17 [[ 9.14305096e-01 -3.90785173e-01 -1.06457217e-01 2.15311288e+02] [ 3.88203406e-01 9.20481854e-01 -4.48471989e-02 2.07498009e+01] [ 1.15517557e-01 -3.23031868e-04 9.93305386e-01 2.01696366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00863999999999 meters Centerline goodness : 0.988126 with order 1 Centerline is valid? [True, True] Translation: X:215.37, Y:20.77, Z:20.17 [[ 9.14892209e-01 -3.89414410e-01 -1.06436189e-01 2.15365362e+02] [ 3.86817588e-01 9.21062652e-01 -4.48970515e-02 2.07725103e+01] [ 1.15517957e-01 -9.54271529e-05 9.93305387e-01 2.01741047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.06864 meters Centerline goodness : 0.986464 with order 1 Centerline is valid? [True, True] Translation: X:215.42, Y:20.79, Z:20.18 [[ 9.15113503e-01 -3.88900002e-01 -1.06414588e-01 2.15419380e+02] [ 3.86293765e-01 9.21279972e-01 -4.49481924e-02 2.07936425e+01] [ 1.15517980e-01 2.54061515e-05 9.93305389e-01 2.01830680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12864 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:215.48, Y:20.82, Z:20.17 [[ 9.15889596e-01 -3.87074700e-01 -1.06392782e-01 2.15475913e+02] [ 3.84450183e-01 9.22048306e-01 -4.49997479e-02 2.08164668e+01] [ 1.15517548e-01 3.12076374e-04 9.93305390e-01 2.01692378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18864 meters Centerline goodness : 0.986871 with order 1 Centerline is valid? [True, True] Translation: X:215.53, Y:20.84, Z:20.20 [[ 9.16073227e-01 -3.86641582e-01 -1.06386694e-01 2.15528781e+02] [ 3.84012483e-01 9.22229982e-01 -4.50141356e-02 2.08363009e+01] [ 1.15517336e-01 3.82425847e-04 9.93305391e-01 2.01969440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24863999999997 meters Centerline goodness : 0.984340 with order 1 Centerline is valid? [True, True] Translation: X:215.58, Y:20.86, Z:20.21 [[ 9.17824147e-01 -3.82467868e-01 -1.06382162e-01 2.15581864e+02] [ 3.79809531e-01 9.23968335e-01 -4.50248443e-02 2.08591486e+01] [ 1.15514305e-01 9.19930314e-04 9.93305391e-01 2.02075235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.30863999999997 meters Centerline goodness : 0.989626 with order 1 Centerline is valid? [True, True] Translation: X:215.64, Y:20.88, Z:20.21 [[ 9.19604092e-01 -3.78169878e-01 -1.06376017e-01 2.15635478e+02] [ 3.75481147e-01 9.25735040e-01 -4.50393566e-02 2.08845021e+01] [ 1.15508535e-01 1.47618754e-03 9.93305391e-01 2.02090879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36863999999997 meters Centerline goodness : 0.986111 with order 1 Centerline is valid? [True, True] Translation: X:215.69, Y:20.91, Z:20.22 [[ 9.20698730e-01 -3.75498301e-01 -1.06371397e-01 2.15687558e+02] [ 3.72790521e-01 9.26821288e-01 -4.50502673e-02 2.09117971e+01] [ 1.15503574e-01 1.82347548e-03 9.93305391e-01 2.02191465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42863999999997 meters Centerline goodness : 0.985100 with order 1 Centerline is valid? [True, True] Translation: X:215.74, Y:20.94, Z:20.23 [[ 9.20551685e-01 -3.75864342e-01 -1.06351260e-01 2.15739016e+02] [ 3.73153512e-01 9.26672892e-01 -4.50977552e-02 2.09400066e+01] [ 1.15503468e-01 1.82946854e-03 9.93305392e-01 2.02263646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.48863999999998 meters Centerline goodness : 0.997991 with order 1 Centerline is valid? [True, True] Translation: X:215.79, Y:20.97, Z:20.21 [[ 9.21220645e-01 -3.74227977e-01 -1.06329420e-01 2.15793026e+02] [ 3.71500338e-01 9.27334378e-01 -4.51491896e-02 2.09701918e+01] [ 1.15499017e-01 2.09095002e-03 9.93305394e-01 2.02104347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.54863999999998 meters Centerline goodness : 0.988567 with order 1 Centerline is valid? [True, True] Translation: X:215.84, Y:21.00, Z:20.24 [[ 9.21624149e-01 -3.73238895e-01 -1.06309247e-01 2.15841090e+02] [ 3.70499224e-01 9.27732499e-01 -4.51966397e-02 2.10014890e+01] [ 1.15495687e-01 2.26682099e-03 9.93305395e-01 2.02358240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60863999999998 meters Centerline goodness : 0.986895 with order 1 Centerline is valid? [True, True] Translation: X:215.89, Y:21.03, Z:20.24 [[ 9.21019532e-01 -3.74734390e-01 -1.06288093e-01 2.15892205e+02] [ 3.71998904e-01 9.27129756e-01 -4.52463332e-02 2.10303370e+01] [ 1.15498211e-01 2.13370247e-03 9.93305396e-01 2.02442493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66863999999998 meters Centerline goodness : 0.989250 with order 1 Centerline is valid? [True, True] Translation: X:215.95, Y:21.06, Z:20.25 [[ 9.18650487e-01 -3.80511089e-01 -1.06266613e-01 2.15945034e+02] [ 3.77808202e-01 9.24775199e-01 -4.52967249e-02 2.10557243e+01] [ 1.15508635e-01 1.46346022e-03 9.93305398e-01 2.02478355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.72863999999998 meters Centerline goodness : 0.991456 with order 1 Centerline is valid? [True, True] Translation: X:216.00, Y:21.08, Z:20.25 [[ 9.15195837e-01 -3.88752668e-01 -1.06244735e-01 2.15999156e+02] [ 3.86098988e-01 9.21342027e-01 -4.53479839e-02 2.10779927e+01] [ 1.15516889e-01 4.81301311e-04 9.93305399e-01 2.02519690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78864 meters Centerline goodness : 0.990416 with order 1 Centerline is valid? [True, True] Translation: X:216.05, Y:21.10, Z:20.26 [[ 9.12358060e-01 -3.95372594e-01 -1.06222793e-01 2.16054926e+02] [ 3.92757533e-01 9.18520779e-01 -4.53993221e-02 2.10961564e+01] [ 1.15517491e-01 -2.99364781e-04 9.93305401e-01 2.02604180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84864 meters Centerline goodness : 0.991558 with order 1 Centerline is valid? [True, True] Translation: X:216.11, Y:21.12, Z:20.27 [[ 9.10676161e-01 -3.99237145e-01 -1.06200903e-01 2.16108779e+02] [ 3.96642270e-01 9.16847405e-01 -4.54504715e-02 2.11159968e+01] [ 1.15515539e-01 -7.33106423e-04 9.93305403e-01 2.02667678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90864 meters Centerline goodness : 0.987374 with order 1 Centerline is valid? [True, True] Translation: X:216.17, Y:21.13, Z:20.28 [[ 9.10238912e-01 -4.00239585e-01 -1.06176258e-01 2.16165324e+02] [ 3.97644798e-01 9.16410192e-01 -4.55079727e-02 2.11307122e+01] [ 1.15515097e-01 -7.97309185e-04 9.93305405e-01 2.02761897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96863999999997 meters Centerline goodness : 0.985036 with order 1 Centerline is valid? [True, True] Translation: X:216.22, Y:21.15, Z:20.28 [[ 9.10566937e-01 -3.99498462e-01 -1.06154756e-01 2.16219789e+02] [ 3.96892811e-01 9.16733635e-01 -4.55580750e-02 2.11513545e+01] [ 1.15516016e-01 -6.48382746e-04 9.93305406e-01 2.02833137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02863999999997 meters Centerline goodness : 0.994155 with order 1 Centerline is valid? [True, True] Translation: X:216.28, Y:21.17, Z:20.26 [[ 9.13029419e-01 -3.93843934e-01 -1.06133101e-01 2.16278449e+02] [ 3.91194232e-01 9.19177317e-01 -4.56084677e-02 2.11706266e+01] [ 1.15517757e-01 1.23215757e-04 9.93305407e-01 2.02620063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08863999999997 meters Centerline goodness : 0.979484 with order 1 Centerline is valid? [True, True] Translation: X:216.33, Y:21.20, Z:20.30 [[ 9.17892447e-01 -3.82379095e-01 -1.06111652e-01 2.16326430e+02] [ 3.79646849e-01 9.24004106e-01 -4.56583157e-02 2.11969118e+01] [ 1.15506388e-01 1.62446871e-03 9.93305409e-01 2.02960973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14863999999997 meters Centerline goodness : 0.983122 with order 1 Centerline is valid? [True, True] Translation: X:216.38, Y:21.22, Z:20.30 [[ 9.15929545e-01 -3.87063989e-01 -1.06087405e-01 2.16380142e+02] [ 3.84356488e-01 9.22052204e-01 -4.57145861e-02 2.12187467e+01] [ 1.15512596e-01 1.09595767e-03 9.93305411e-01 2.03028789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20863999999997 meters Centerline goodness : 0.983790 with order 1 Centerline is valid? [True, True] Translation: X:216.43, Y:21.25, Z:20.31 [[ 9.18628381e-01 -3.80616588e-01 -1.06079738e-01 2.16433008e+02] [ 3.77864065e-01 9.24730933e-01 -4.57323704e-02 2.12466203e+01] [ 1.15501714e-01 1.92733240e-03 9.93305411e-01 2.03068324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26863999999998 meters Centerline goodness : 0.982466 with order 1 Centerline is valid? [True, True] Translation: X:216.48, Y:21.28, Z:20.31 [[ 9.19774991e-01 -3.77838208e-01 -1.06076643e-01 2.16482915e+02] [ 3.75066425e-01 9.25868819e-01 -4.57395484e-02 2.12754668e+01] [ 1.15495205e-01 2.28430556e-03 9.93305411e-01 2.03145973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32863999999998 meters Centerline goodness : 0.979888 with order 1 Centerline is valid? [True, True] Translation: X:216.53, Y:21.31, Z:20.32 [[ 9.19393119e-01 -3.78773439e-01 -1.06051754e-01 2.16532545e+02] [ 3.76001209e-01 9.25486742e-01 -4.57971843e-02 2.13079298e+01] [ 1.15496249e-01 2.23002856e-03 9.93305413e-01 2.03245588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38863999999998 meters Centerline goodness : 0.979821 with order 1 Centerline is valid? [True, True] Translation: X:216.58, Y:21.34, Z:20.33 [[ 9.18221524e-01 -3.81610425e-01 -1.06031674e-01 2.16582415e+02] [ 3.78851662e-01 9.24321254e-01 -4.58436261e-02 2.13422506e+01] [ 1.15501736e-01 1.92432825e-03 9.93305414e-01 2.03278932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44863999999998 meters Centerline goodness : 0.989696 with order 1 Centerline is valid? [True, True] Translation: X:216.64, Y:21.37, Z:20.32 [[ 9.17976031e-01 -3.82201459e-01 -1.06028537e-01 2.16636310e+02] [ 3.79445786e-01 9.24077157e-01 -4.58508811e-02 2.13697743e+01] [ 1.15502823e-01 1.85792835e-03 9.93305414e-01 2.03151233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50863999999999 meters Centerline goodness : 0.988582 with order 1 Centerline is valid? [True, True] Translation: X:216.69, Y:21.40, Z:20.32 [[ 9.15277287e-01 -3.88621621e-01 -1.06022275e-01 2.16687211e+02] [ 3.85907071e-01 9.21396821e-01 -4.58653566e-02 2.13997636e+01] [ 1.15512856e-01 1.06477368e-03 9.93305414e-01 2.03206146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56864 meters Centerline goodness : 0.977929 with order 1 Centerline is valid? [True, True] Translation: X:216.74, Y:21.43, Z:20.35 [[ 9.12645606e-01 -3.94763962e-01 -1.06016097e-01 2.16735413e+02] [ 3.92088941e-01 9.18782521e-01 -4.58796323e-02 2.14285692e+01] [ 1.15517362e-01 3.04105570e-04 9.93305415e-01 2.03473153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62864 meters Centerline goodness : 0.988526 with order 1 Centerline is valid? [True, True] Translation: X:216.79, Y:21.45, Z:20.33 [[ 9.11384262e-01 -3.97670300e-01 -1.06005001e-01 2.16790151e+02] [ 3.95011869e-01 9.17528382e-01 -4.59052551e-02 2.14549252e+01] [ 1.15517754e-01 -3.59065531e-05 9.93305415e-01 2.03332356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68863999999996 meters Centerline goodness : 0.988544 with order 1 Centerline is valid? [True, True] Translation: X:216.84, Y:21.48, Z:20.34 [[ 9.09878378e-01 -4.01105467e-01 -1.05998780e-01 2.16842584e+02] [ 3.98468559e-01 9.16031766e-01 -4.59196158e-02 2.14794310e+01] [ 1.15516859e-01 -4.55915495e-04 9.93305415e-01 2.03409743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74863999999997 meters Centerline goodness : 0.979152 with order 1 Centerline is valid? [True, True] Translation: X:216.90, Y:21.50, Z:20.36 [[ 9.08747277e-01 -4.03663144e-01 -1.05992703e-01 2.16896086e+02] [ 4.01041918e-01 9.14907362e-01 -4.59336375e-02 2.15006583e+01] [ 1.15515221e-01 -7.65449080e-04 9.93305415e-01 2.03635683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80863999999997 meters Centerline goodness : 0.988920 with order 1 Centerline is valid? [True, True] Translation: X:216.95, Y:21.53, Z:20.35 [[ 9.06110454e-01 -4.09550131e-01 -1.05983652e-01 2.16951950e+02] [ 4.06966484e-01 9.12286394e-01 -4.59545119e-02 2.15258107e+01] [ 1.15508120e-01 -1.49193060e-03 9.93305415e-01 2.03539559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86863999999997 meters Centerline goodness : 0.988684 with order 1 Centerline is valid? [True, True] Translation: X:217.00, Y:21.55, Z:20.36 [[ 9.05938782e-01 -4.09930538e-01 -1.05980548e-01 2.17004273e+02] [ 4.07348646e-01 9.12115456e-01 -4.59616707e-02 2.15497699e+01] [ 1.15507588e-01 -1.53257264e-03 9.93305415e-01 2.03616980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92863999999997 meters Centerline goodness : 0.987833 with order 1 Centerline is valid? [True, True] Translation: X:217.06, Y:21.58, Z:20.37 [[ 9.05976243e-01 -4.09850050e-01 -1.05971617e-01 2.17057503e+02] [ 4.07265203e-01 9.12151680e-01 -4.59822518e-02 2.15751117e+01] [ 1.15508017e-01 -1.49972448e-03 9.93305416e-01 2.03684528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98863999999998 meters Centerline goodness : 0.987640 with order 1 Centerline is valid? [True, True] Translation: X:217.11, Y:21.60, Z:20.37 [[ 9.05580349e-01 -4.10725200e-01 -1.05967174e-01 2.17110210e+02] [ 4.08145123e-01 9.11757780e-01 -4.59924903e-02 2.16003556e+01] [ 1.15506670e-01 -1.60008967e-03 9.93305416e-01 2.03748943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04863999999998 meters Centerline goodness : 0.987997 with order 1 Centerline is valid? [True, True] Translation: X:217.16, Y:21.62, Z:20.38 [[ 9.03830408e-01 -4.14563383e-01 -1.05961290e-01 2.17164255e+02] [ 4.12007948e-01 9.10018074e-01 -4.60060422e-02 2.16224249e+01] [ 1.15499109e-01 -2.07523368e-03 9.93305416e-01 2.03810676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10863999999998 meters Centerline goodness : 0.989175 with order 1 Centerline is valid? [True, True] Translation: X:217.22, Y:21.64, Z:20.39 [[ 9.01614455e-01 -4.19362382e-01 -1.05955493e-01 2.17219302e+02] [ 4.16838310e-01 9.07814981e-01 -4.60193890e-02 2.16434849e+01] [ 1.15486784e-01 -2.67456224e-03 9.93305416e-01 2.03875106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16863999999998 meters Centerline goodness : 0.980287 with order 1 Centerline is valid? [True, True] Translation: X:217.27, Y:21.66, Z:20.41 [[ 9.01206467e-01 -4.20239874e-01 -1.05949762e-01 2.17274877e+02] [ 4.17720289e-01 9.07408817e-01 -4.60325798e-02 2.16606353e+01] [ 1.15484473e-01 -2.77250643e-03 9.93305416e-01 2.04117483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22863999999998 meters Centerline goodness : 0.991794 with order 1 Centerline is valid? [True, True] Translation: X:217.33, Y:21.68, Z:20.40 [[ 9.01351186e-01 -4.19929745e-01 -1.05948329e-01 2.17332805e+02] [ 4.17407639e-01 9.07552512e-01 -4.60358772e-02 2.16835987e+01] [ 1.15485506e-01 -2.72914927e-03 9.93305416e-01 2.04014987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28864 meters Centerline goodness : 0.992529 with order 1 Centerline is valid? [True, True] Translation: X:217.39, Y:21.70, Z:20.41 [[ 9.02965495e-01 -4.16447335e-01 -1.05947777e-01 2.17389018e+02] [ 4.13901161e-01 9.09156978e-01 -4.60371475e-02 2.17019013e+01] [ 1.15495208e-01 -2.28195220e-03 9.93305416e-01 2.04073707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34864 meters Centerline goodness : 0.993274 with order 1 Centerline is valid? [True, True] Translation: X:217.44, Y:21.73, Z:20.42 [[ 9.04179499e-01 -4.13806399e-01 -1.05941957e-01 2.17442271e+02] [ 4.11240572e-01 9.10362862e-01 -4.60505369e-02 2.17254447e+01] [ 1.15501630e-01 -1.92967960e-03 9.93305416e-01 2.04158136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40864 meters Centerline goodness : 0.995386 with order 1 Centerline is valid? [True, True] Translation: X:217.50, Y:21.75, Z:20.42 [[ 9.04700916e-01 -4.12666701e-01 -1.05936050e-01 2.17497317e+02] [ 4.10091494e-01 9.10880378e-01 -4.60641209e-02 2.17460929e+01] [ 1.15504198e-01 -1.76922068e-03 9.93305416e-01 2.04217802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46863999999997 meters Centerline goodness : 0.994066 with order 1 Centerline is valid? [True, True] Translation: X:217.55, Y:21.77, Z:20.43 [[ 9.03585547e-01 -4.15104753e-01 -1.05930180e-01 2.17552064e+02] [ 4.12544637e-01 9.09771277e-01 -4.60776159e-02 2.17673355e+01] [ 1.15499273e-01 -2.06585993e-03 9.93305416e-01 2.04306131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52863999999997 meters Centerline goodness : 0.995191 with order 1 Centerline is valid? [True, True] Translation: X:217.61, Y:21.78, Z:20.44 [[ 9.02637256e-01 -4.17165375e-01 -1.05919941e-01 2.17609325e+02] [ 4.14616620e-01 9.08827675e-01 -4.61011404e-02 2.17837813e+01] [ 1.15494774e-01 -2.30356113e-03 9.93305417e-01 2.04355427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58863999999997 meters Centerline goodness : 0.984377 with order 1 Centerline is valid? [True, True] Translation: X:217.66, Y:21.80, Z:20.46 [[ 9.02106209e-01 -4.18314038e-01 -1.05913897e-01 2.17662889e+02] [ 4.15771536e-01 9.08299199e-01 -4.61150231e-02 2.18044083e+01] [ 1.15492069e-01 -2.43533486e-03 9.93305417e-01 2.04601179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64863999999997 meters Centerline goodness : 0.994593 with order 1 Centerline is valid? [True, True] Translation: X:217.72, Y:21.83, Z:20.45 [[ 9.03765103e-01 -4.14718586e-01 -1.05910964e-01 2.17720988e+02] [ 4.12150655e-01 9.09947593e-01 -4.61217588e-02 2.18253137e+01] [ 1.15500977e-01 -1.96803687e-03 9.93305417e-01 2.04497295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70863999999997 meters Centerline goodness : 0.994101 with order 1 Centerline is valid? [True, True] Translation: X:217.78, Y:21.84, Z:20.46 [[ 9.03084757e-01 -4.16199082e-01 -1.05906782e-01 2.17776245e+02] [ 4.13640160e-01 9.09270980e-01 -4.61313595e-02 2.18444969e+01] [ 1.15497793e-01 -2.14677054e-03 9.93305417e-01 2.04587813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76863999999998 meters Centerline goodness : 0.982083 with order 1 Centerline is valid? [True, True] Translation: X:217.83, Y:21.86, Z:20.48 [[ 9.01158347e-01 -4.20355363e-01 -1.05900913e-01 2.17831560e+02] [ 4.17823387e-01 9.07355648e-01 -4.61448282e-02 2.18595787e+01] [ 1.15487017e-01 -2.66408099e-03 9.93305417e-01 2.04817002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82863999999998 meters Centerline goodness : 0.994743 with order 1 Centerline is valid? [True, True] Translation: X:217.89, Y:21.88, Z:20.47 [[ 9.00901940e-01 -4.20905729e-01 -1.05896470e-01 2.17889444e+02] [ 4.18376343e-01 9.07100298e-01 -4.61550209e-02 2.18809333e+01] [ 1.15485632e-01 -2.72343008e-03 9.93305417e-01 2.04720071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88863999999998 meters Centerline goodness : 0.981203 with order 1 Centerline is valid? [True, True] Translation: X:217.94, Y:21.90, Z:20.50 [[ 9.00260004e-01 -4.22277371e-01 -1.05894978e-01 2.17943034e+02] [ 4.19757026e-01 9.06462044e-01 -4.61584438e-02 2.19002450e+01] [ 1.15481445e-01 -2.89556026e-03 9.93305417e-01 2.04959868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94863999999998 meters Centerline goodness : 0.985688 with order 1 Centerline is valid? [True, True] Translation: X:218.00, Y:21.92, Z:20.50 [[ 9.00628465e-01 -4.21492059e-01 -1.05890567e-01 2.17998526e+02] [ 4.18965116e-01 9.06827820e-01 -4.61685621e-02 2.19194533e+01] [ 1.15484194e-01 -2.78373245e-03 9.93305417e-01 2.04997396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00863999999999 meters Centerline goodness : 0.995532 with order 1 Centerline is valid? [True, True] Translation: X:218.06, Y:21.94, Z:20.49 [[ 9.01881569e-01 -4.18809273e-01 -1.05869866e-01 2.18056991e+02] [ 4.16258324e-01 9.08071082e-01 -4.62159823e-02 2.19396699e+01] [ 1.15493046e-01 -2.38787049e-03 9.93305418e-01 2.04918063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06864 meters Centerline goodness : 0.995871 with order 1 Centerline is valid? [True, True] Translation: X:218.11, Y:21.96, Z:20.50 [[ 9.03070317e-01 -4.16240174e-01 -1.05868410e-01 2.18112684e+02] [ 4.13671225e-01 9.09252381e-01 -4.62193175e-02 2.19578973e+01] [ 1.15499441e-01 -2.05542119e-03 9.93305418e-01 2.04989975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12864 meters Centerline goodness : 0.995533 with order 1 Centerline is valid? [True, True] Translation: X:218.17, Y:21.98, Z:20.51 [[ 9.05458476e-01 -4.11024583e-01 -1.05847721e-01 2.18168076e+02] [ 4.08414487e-01 9.11623280e-01 -4.62666509e-02 2.19773326e+01] [ 1.15509977e-01 -1.33721130e-03 9.93305420e-01 2.05066599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18863999999996 meters Centerline goodness : 0.996320 with order 1 Centerline is valid? [True, True] Translation: X:218.22, Y:22.00, Z:20.51 [[ 9.07522313e-01 -4.06452882e-01 -1.05826773e-01 2.18222151e+02] [ 4.03806146e-01 9.13671474e-01 -4.63145167e-02 2.19980323e+01] [ 1.15515572e-01 -7.02043878e-04 9.93305421e-01 2.05143794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24863999999997 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:218.27, Y:22.02, Z:20.52 [[ 9.08061182e-01 -4.05249542e-01 -1.05819179e-01 2.18274714e+02] [ 4.02592637e-01 9.14205955e-01 -4.63318602e-02 2.20206777e+01] [ 1.15516489e-01 -5.29858588e-04 9.93305421e-01 2.05210555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30863999999997 meters Centerline goodness : 0.976000 with order 1 Centerline is valid? [True, True] Translation: X:218.33, Y:22.04, Z:20.55 [[ 9.05799179e-01 -4.10286894e-01 -1.05794664e-01 2.18326926e+02] [ 4.07657629e-01 9.11955828e-01 -4.63877711e-02 2.20416745e+01] [ 1.15512355e-01 -1.10999692e-03 9.93305423e-01 2.05518672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36863999999997 meters Centerline goodness : 0.998184 with order 1 Centerline is valid? [True, True] Translation: X:218.38, Y:22.07, Z:20.53 [[ 9.06373202e-01 -4.09022446e-01 -1.05774559e-01 2.18384306e+02] [ 4.06379246e-01 9.12523880e-01 -4.64335690e-02 2.20665729e+01] [ 1.15514183e-01 -8.98443120e-04 9.93305424e-01 2.05326981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42863999999997 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:218.44, Y:22.09, Z:20.54 [[ 9.05476573e-01 -4.11004332e-01 -1.05771518e-01 2.18437699e+02] [ 4.08373786e-01 9.11632673e-01 -4.64404952e-02 2.20905747e+01] [ 1.15512017e-01 -1.14353501e-03 9.93305424e-01 2.05385629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48863999999998 meters Centerline goodness : 0.998037 with order 1 Centerline is valid? [True, True] Translation: X:218.49, Y:22.11, Z:20.55 [[ 9.06209221e-01 -4.09391938e-01 -1.05750124e-01 2.18490342e+02] [ 4.06744759e-01 9.12358186e-01 -4.64891615e-02 2.21139569e+01] [ 1.15514279e-01 -8.84401924e-04 9.93305426e-01 2.05456134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54863999999998 meters Centerline goodness : 0.983582 with order 1 Centerline is valid? [True, True] Translation: X:218.54, Y:22.14, Z:20.58 [[ 9.06351473e-01 -4.09083264e-01 -1.05725549e-01 2.18541233e+02] [ 4.06427478e-01 9.12496723e-01 -4.65449847e-02 2.21356765e+01] [ 1.15514991e-01 -7.83652682e-04 9.93305428e-01 2.05751540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60863999999998 meters Centerline goodness : 0.985314 with order 1 Centerline is valid? [True, True] Translation: X:218.59, Y:22.16, Z:20.58 [[ 9.08034957e-01 -4.05339218e-01 -1.05700683e-01 2.18594339e+02] [ 4.02651527e-01 9.14166319e-01 -4.66013856e-02 2.21601069e+01] [ 1.15517373e-01 -2.44854212e-04 9.93305430e-01 2.05808197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66863999999998 meters Centerline goodness : 0.983100 with order 1 Centerline is valid? [True, True] Translation: X:218.65, Y:22.18, Z:20.59 [[ 9.08898432e-01 -4.03405175e-01 -1.05678312e-01 2.18646810e+02] [ 4.00698544e-01 9.15021454e-01 -4.66520624e-02 2.21844644e+01] [ 1.15517606e-01 5.68407446e-05 9.93305431e-01 2.05893231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72863999999998 meters Centerline goodness : 0.981969 with order 1 Centerline is valid? [True, True] Translation: X:218.70, Y:22.21, Z:20.60 [[ 9.10347064e-01 -4.00131277e-01 -1.05655974e-01 2.18698683e+02] [ 3.97396761e-01 9.16457681e-01 -4.67025972e-02 2.22113391e+01] [ 1.15516399e-01 5.28230304e-04 9.93305433e-01 2.05954686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78864 meters Centerline goodness : 0.983252 with order 1 Centerline is valid? [True, True] Translation: X:218.75, Y:22.24, Z:20.60 [[ 9.10434574e-01 -3.99938046e-01 -1.05633545e-01 2.18750173e+02] [ 3.97196352e-01 9.16541974e-01 -4.67532743e-02 2.22385276e+01] [ 1.15515991e-01 6.08538778e-04 9.93305434e-01 2.06016967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84864 meters Centerline goodness : 0.983045 with order 1 Centerline is valid? [True, True] Translation: X:218.80, Y:22.26, Z:20.61 [[ 9.09322405e-01 -4.02466266e-01 -1.05610934e-01 2.18802470e+02] [ 3.99735627e-01 9.15434753e-01 -4.68042948e-02 2.22640917e+01] [ 1.15517069e-01 3.43741022e-04 9.93305436e-01 2.06094449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90864 meters Centerline goodness : 0.979720 with order 1 Centerline is valid? [True, True] Translation: X:218.86, Y:22.29, Z:20.62 [[ 9.08428250e-01 -4.04486350e-01 -1.05588387e-01 2.18855905e+02] [ 4.01763396e-01 9.14544024e-01 -4.68551042e-02 2.22893580e+01] [ 1.15517479e-01 1.42951238e-04 9.93305437e-01 2.06196949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96863999999997 meters Centerline goodness : 0.985646 with order 1 Centerline is valid? [True, True] Translation: X:218.91, Y:22.31, Z:20.62 [[ 9.06119206e-01 -4.09633270e-01 -1.05586780e-01 2.18912055e+02] [ 4.06944633e-01 9.12250144e-01 -4.68587249e-02 2.23122225e+01] [ 1.15516448e-01 -5.08383007e-04 9.93305437e-01 2.06214678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02863999999997 meters Centerline goodness : 0.985705 with order 1 Centerline is valid? [True, True] Translation: X:218.96, Y:22.34, Z:20.63 [[ 9.06444360e-01 -4.08913584e-01 -1.05585523e-01 2.18964999e+02] [ 4.06219749e-01 9.12573016e-01 -4.68615583e-02 2.23359511e+01] [ 1.15516827e-01 -4.13529277e-04 9.93305437e-01 2.06285589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08863999999997 meters Centerline goodness : 0.986067 with order 1 Centerline is valid? [True, True] Translation: X:219.02, Y:22.36, Z:20.64 [[ 9.07750826e-01 -4.06010926e-01 -1.05563085e-01 2.19019239e+02] [ 4.03291621e-01 9.13868222e-01 -4.69120487e-02 2.23589270e+01] [ 1.15517553e-01 1.17431476e-05 9.93305439e-01 2.06354602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14863999999997 meters Centerline goodness : 0.975772 with order 1 Centerline is valid? [True, True] Translation: X:219.07, Y:22.38, Z:20.65 [[ 9.09856794e-01 -4.01274826e-01 -1.05542071e-01 2.19072443e+02] [ 3.98518199e-01 9.15957461e-01 -4.69592794e-02 2.23826288e+01] [ 1.15515624e-01 6.65783430e-04 9.93305440e-01 2.06522381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20863999999997 meters Centerline goodness : 0.997005 with order 1 Centerline is valid? [True, True] Translation: X:219.13, Y:22.41, Z:20.63 [[ 9.12966904e-01 -3.94148267e-01 -1.05539455e-01 2.19129448e+02] [ 3.91343343e-01 9.19045517e-01 -4.69651584e-02 2.24106948e+01] [ 1.15506798e-01 1.57547214e-03 9.93305440e-01 2.06310985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26863999999998 meters Centerline goodness : 0.982837 with order 1 Centerline is valid? [True, True] Translation: X:219.18, Y:22.44, Z:20.66 [[ 9.13542204e-01 -3.92813100e-01 -1.05539139e-01 2.19179919e+02] [ 3.89999210e-01 9.19616672e-01 -4.69658678e-02 2.24375975e+01] [ 1.15504360e-01 1.74512149e-03 9.93305440e-01 2.06586899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32863999999998 meters Centerline goodness : 0.981737 with order 1 Centerline is valid? [True, True] Translation: X:219.23, Y:22.47, Z:20.67 [[ 9.13427624e-01 -3.93080283e-01 -1.05536097e-01 2.19231658e+02] [ 3.90267381e-01 9.19502549e-01 -4.69727018e-02 2.24662496e+01] [ 1.15504753e-01 1.71886709e-03 9.93305440e-01 2.06657762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38863999999998 meters Centerline goodness : 0.997202 with order 1 Centerline is valid? [True, True] Translation: X:219.29, Y:22.50, Z:20.65 [[ 9.13438148e-01 -3.93061517e-01 -1.05514898e-01 2.19286877e+02] [ 3.90242996e-01 9.19510466e-01 -4.70202740e-02 2.24956444e+01] [ 1.15503913e-01 1.77366206e-03 9.93305442e-01 2.06519738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44863999999998 meters Centerline goodness : 0.978592 with order 1 Centerline is valid? [True, True] Translation: X:219.34, Y:22.52, Z:20.68 [[ 9.11100592e-01 -3.98450148e-01 -1.05513939e-01 2.19337010e+02] [ 3.95667295e-01 9.17189339e-01 -4.70224254e-02 2.25236876e+01] [ 1.15512353e-01 1.09374476e-03 9.93305442e-01 2.06843102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50863999999999 meters Centerline goodness : 0.985333 with order 1 Centerline is valid? [True, True] Translation: X:219.39, Y:22.55, Z:20.69 [[ 9.10469836e-01 -3.99889497e-01 -1.05513353e-01 2.19390465e+02] [ 3.97116117e-01 9.16562904e-01 -4.70237410e-02 2.25521782e+01] [ 1.15513925e-01 9.12644737e-04 9.93305442e-01 2.06853278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56864 meters Centerline goodness : 0.998381 with order 1 Centerline is valid? [True, True] Translation: X:219.44, Y:22.58, Z:20.67 [[ 9.10256302e-01 -4.00375734e-01 -1.05511784e-01 2.19444538e+02] [ 3.97605201e-01 9.16350665e-01 -4.70272601e-02 2.25822585e+01] [ 1.15514368e-01 8.54825595e-04 9.93305442e-01 2.06733583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62864 meters Centerline goodness : 0.983116 with order 1 Centerline is valid? [True, True] Translation: X:219.50, Y:22.60, Z:20.70 [[ 9.07604247e-01 -4.06352645e-01 -1.05508577e-01 2.19497374e+02] [ 4.03621410e-01 9.13716322e-01 -4.70344550e-02 2.26033286e+01] [ 1.15517484e-01 1.03150516e-04 9.93305442e-01 2.07013164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68863999999996 meters Centerline goodness : 0.984597 with order 1 Centerline is valid? [True, True] Translation: X:219.55, Y:22.63, Z:20.71 [[ 9.07172865e-01 -4.07315608e-01 -1.05505394e-01 2.19549205e+02] [ 4.04590031e-01 9.13287466e-01 -4.70415944e-02 2.26310008e+01] [ 1.15517529e-01 -1.15726276e-05 9.93305442e-01 2.07067829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74863999999997 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:219.61, Y:22.66, Z:20.69 [[ 9.08826525e-01 -4.03614031e-01 -1.05499106e-01 2.19605360e+02] [ 4.00861913e-01 9.14929226e-01 -4.70556923e-02 2.26570782e+01] [ 1.15516553e-01 4.74887992e-04 9.93305442e-01 2.06935656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80863999999997 meters Centerline goodness : 0.998968 with order 1 Centerline is valid? [True, True] Translation: X:219.66, Y:22.68, Z:20.70 [[ 9.09680965e-01 -4.01684968e-01 -1.05497528e-01 2.19658339e+02] [ 3.98919498e-01 9.15777627e-01 -4.70592295e-02 2.26825700e+01] [ 1.15515261e-01 7.23864373e-04 9.93305442e-01 2.07011080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86863999999997 meters Centerline goodness : 0.998332 with order 1 Centerline is valid? [True, True] Translation: X:219.71, Y:22.71, Z:20.71 [[ 9.09541086e-01 -4.02003249e-01 -1.05491233e-01 2.19710523e+02] [ 3.99238277e-01 9.15637974e-01 -4.70733374e-02 2.27085384e+01] [ 1.15515413e-01 6.98996520e-04 9.93305442e-01 2.07080195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92863999999997 meters Centerline goodness : 0.985740 with order 1 Centerline is valid? [True, True] Translation: X:219.76, Y:22.73, Z:20.73 [[ 9.07569291e-01 -4.06436855e-01 -1.05484902e-01 2.19761888e+02] [ 4.03700019e-01 9.13678861e-01 -4.70875192e-02 2.27323338e+01] [ 1.15517428e-01 1.50929499e-04 9.93305442e-01 2.07343286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98863999999998 meters Centerline goodness : 0.998283 with order 1 Centerline is valid? [True, True] Translation: X:219.82, Y:22.76, Z:20.72 [[ 9.07994001e-01 -4.05488383e-01 -1.05480171e-01 2.19816137e+02] [ 4.02743934e-01 9.14100154e-01 -4.70981150e-02 2.27590402e+01] [ 1.15517179e-01 2.83306946e-04 9.93305442e-01 2.07210081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04863999999998 meters Centerline goodness : 0.998430 with order 1 Centerline is valid? [True, True] Translation: X:219.87, Y:22.78, Z:20.73 [[ 9.06667732e-01 -4.08446891e-01 -1.05473980e-01 2.19869030e+02] [ 4.05720755e-01 9.12782083e-01 -4.71119745e-02 2.27841083e+01] [ 1.15517499e-01 -7.80757696e-05 9.93305442e-01 2.07267502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10863999999998 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:219.92, Y:22.81, Z:20.73 [[ 9.03899877e-01 -4.14537792e-01 -1.05467683e-01 2.19924021e+02] [ 4.11851210e-01 9.10031711e-01 -4.71260682e-02 2.28056302e+01] [ 1.15514472e-01 -8.39745494e-04 9.93305442e-01 2.07324331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16863999999998 meters Centerline goodness : 0.989525 with order 1 Centerline is valid? [True, True] Translation: X:219.98, Y:22.83, Z:20.76 [[ 9.02095764e-01 -4.18450857e-01 -1.05461431e-01 2.19976038e+02] [ 4.15789238e-01 9.08238474e-01 -4.71400548e-02 2.28264607e+01] [ 1.15509925e-01 -1.32488423e-03 9.93305442e-01 2.07571411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22863999999998 meters Centerline goodness : 0.991358 with order 1 Centerline is valid? [True, True] Translation: X:220.03, Y:22.85, Z:20.76 [[ 9.01798294e-01 -4.19093097e-01 -1.05455264e-01 2.20029676e+02] [ 4.16434240e-01 9.07942200e-01 -4.71538456e-02 2.28494751e+01] [ 1.15509136e-01 -1.39192532e-03 9.93305442e-01 2.07614034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28864 meters Centerline goodness : 0.991076 with order 1 Centerline is valid? [True, True] Translation: X:220.08, Y:22.87, Z:20.77 [[ 9.01936523e-01 -4.18797115e-01 -1.05448971e-01 2.20084018e+02] [ 4.16134597e-01 9.08078843e-01 -4.71679149e-02 2.28717610e+01] [ 1.15509766e-01 -1.33849994e-03 9.93305443e-01 2.07706031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34864 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:220.14, Y:22.89, Z:20.76 [[ 9.01823480e-01 -4.19041662e-01 -1.05444283e-01 2.20140520e+02] [ 4.16379585e-01 9.07965991e-01 -4.71783924e-02 2.28927694e+01] [ 1.15509535e-01 -1.35826486e-03 9.93305443e-01 2.07598602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40864 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:220.19, Y:22.91, Z:20.77 [[ 9.01667596e-01 -4.19378532e-01 -1.05438102e-01 2.20194597e+02] [ 4.16717135e-01 9.07810402e-01 -4.71922021e-02 2.29140065e+01] [ 1.15509202e-01 -1.38618451e-03 9.93305443e-01 2.07672317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46863999999997 meters Centerline goodness : 0.990077 with order 1 Centerline is valid? [True, True] Translation: X:220.25, Y:22.93, Z:20.79 [[ 9.01348122e-01 -4.20066273e-01 -1.05431918e-01 2.20248305e+02] [ 4.17407947e-01 9.07492258e-01 -4.72060136e-02 2.29327996e+01] [ 1.15508304e-01 -1.45906891e-03 9.93305443e-01 2.07927261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52863999999997 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:220.30, Y:22.96, Z:20.78 [[ 9.01996853e-01 -4.18672648e-01 -1.05427183e-01 2.20304489e+02] [ 4.16003594e-01 9.08136335e-01 -4.72165876e-02 2.29550244e+01] [ 1.15510549e-01 -1.26887353e-03 9.93305443e-01 2.07808083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58863999999997 meters Centerline goodness : 0.998479 with order 1 Centerline is valid? [True, True] Translation: X:220.36, Y:22.98, Z:20.79 [[ 9.03459788e-01 -4.15507946e-01 -1.05420865e-01 2.20359252e+02] [ 4.12815740e-01 9.09589153e-01 -4.72306888e-02 2.29758648e+01] [ 1.15514402e-01 -8.48364359e-04 9.93305443e-01 2.07871703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64863999999997 meters Centerline goodness : 0.991699 with order 1 Centerline is valid? [True, True] Translation: X:220.41, Y:23.00, Z:20.81 [[ 9.05190066e-01 -4.11726483e-01 -1.05414645e-01 2.20409597e+02] [ 4.09007054e-01 9.11307402e-01 -4.72445669e-02 2.29992739e+01] [ 1.15516986e-01 -3.50020794e-04 9.93305443e-01 2.08106121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70863999999997 meters Centerline goodness : 0.997694 with order 1 Centerline is valid? [True, True] Translation: X:220.46, Y:23.02, Z:20.80 [[ 9.06912016e-01 -4.07925679e-01 -1.05390868e-01 2.20463261e+02] [ 4.05174454e-01 9.13015117e-01 -4.72975494e-02 2.30243091e+01] [ 1.15517340e-01 1.93028534e-04 9.93305445e-01 2.08006204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76863999999998 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:220.52, Y:23.05, Z:20.81 [[ 9.07799102e-01 -4.05954505e-01 -1.05364752e-01 2.20515476e+02] [ 4.03183284e-01 9.13893146e-01 -4.73556558e-02 2.30501835e+01] [ 1.15516367e-01 5.08114970e-04 9.93305447e-01 2.08080654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82863999999998 meters Centerline goodness : 0.987529 with order 1 Centerline is valid? [True, True] Translation: X:220.57, Y:23.08, Z:20.84 [[ 9.06535678e-01 -4.08773805e-01 -1.05342493e-01 2.20565372e+02] [ 4.06015787e-01 9.12635708e-01 -4.74051218e-02 2.30756155e+01] [ 1.15517292e-01 2.03719180e-04 9.93305448e-01 2.08350223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88863999999998 meters Centerline goodness : 0.997546 with order 1 Centerline is valid? [True, True] Translation: X:220.62, Y:23.11, Z:20.82 [[ 9.06375682e-01 -4.09130088e-01 -1.05336102e-01 2.20618597e+02] [ 4.06372818e-01 9.12476050e-01 -4.74193170e-02 2.31057791e+01] [ 1.15517340e-01 1.73987082e-04 9.93305448e-01 2.08217900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94863999999998 meters Centerline goodness : 0.986496 with order 1 Centerline is valid? [True, True] Translation: X:220.67, Y:23.13, Z:20.85 [[ 9.05422183e-01 -4.11237560e-01 -1.05329671e-01 2.20669447e+02] [ 4.08492828e-01 9.11528202e-01 -4.74335990e-02 2.31311951e+01] [ 1.15517443e-01 -7.89821898e-05 9.93305449e-01 2.08496053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00863999999999 meters Centerline goodness : 0.997744 with order 1 Centerline is valid? [True, True] Translation: X:220.72, Y:23.16, Z:20.83 [[ 9.04330408e-01 -4.13633713e-01 -1.05326471e-01 2.20724173e+02] [ 4.10904332e-01 9.10443304e-01 -4.74407024e-02 2.31598046e+01] [ 1.15516854e-01 -3.77033552e-04 9.93305449e-01 2.08348085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06864 meters Centerline goodness : 0.987880 with order 1 Centerline is valid? [True, True] Translation: X:220.78, Y:23.18, Z:20.86 [[ 9.00781570e-01 -4.21306996e-01 -1.05323208e-01 2.20777253e+02] [ 4.18628836e-01 9.06917080e-01 -4.74479467e-02 2.31779802e+01] [ 1.15509568e-01 -1.35109587e-03 9.93305449e-01 2.08595624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12864 meters Centerline goodness : 0.998187 with order 1 Centerline is valid? [True, True] Translation: X:220.83, Y:23.20, Z:20.85 [[ 8.98083732e-01 -4.27029629e-01 -1.05315270e-01 2.20834135e+02] [ 4.24388496e-01 9.04235271e-01 -4.74655581e-02 2.31994107e+01] [ 1.15498981e-01 -2.06654355e-03 9.93305449e-01 2.08478135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18863999999996 meters Centerline goodness : 0.992298 with order 1 Centerline is valid? [True, True] Translation: X:220.89, Y:23.22, Z:20.87 [[ 8.98376834e-01 -4.26414195e-01 -1.05309056e-01 2.20889024e+02] [ 4.23767233e-01 9.04525867e-01 -4.74793403e-02 2.32184678e+01] [ 1.15500630e-01 -1.97218794e-03 9.93305449e-01 2.08696077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24863999999997 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:220.95, Y:23.24, Z:20.86 [[ 8.99241695e-01 -4.24587677e-01 -1.05307546e-01 2.20945714e+02] [ 4.21927832e-01 9.05385166e-01 -4.74826889e-02 2.32416358e+01] [ 1.15504455e-01 -1.73377115e-03 9.93305449e-01 2.08635762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30863999999997 meters Centerline goodness : 0.990229 with order 1 Centerline is valid? [True, True] Translation: X:221.00, Y:23.26, Z:20.89 [[ 9.00785066e-01 -4.21303813e-01 -1.05306039e-01 2.20998960e+02] [ 4.18621179e-01 9.06918621e-01 -4.74860329e-02 2.32632248e+01] [ 1.15510054e-01 -1.30862878e-03 9.93305449e-01 2.08874407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36863999999997 meters Centerline goodness : 0.998381 with order 1 Centerline is valid? [True, True] Translation: X:221.05, Y:23.29, Z:20.88 [[ 9.02027045e-01 -4.18638872e-01 -1.05302918e-01 2.21054005e+02] [ 4.15937310e-01 9.08152286e-01 -4.74929508e-02 2.32879093e+01] [ 1.15513481e-01 -9.59486527e-04 9.93305449e-01 2.08783257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42863999999997 meters Centerline goodness : 0.998235 with order 1 Centerline is valid? [True, True] Translation: X:221.11, Y:23.31, Z:20.88 [[ 9.03034065e-01 -4.16463801e-01 -1.05296629e-01 2.21107703e+02] [ 4.13745859e-01 9.09152055e-01 -4.75068913e-02 2.33118093e+01] [ 1.15515547e-01 -6.65703044e-04 9.93305449e-01 2.08847109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48863999999998 meters Centerline goodness : 0.997940 with order 1 Centerline is valid? [True, True] Translation: X:221.16, Y:23.34, Z:20.89 [[ 9.02852835e-01 -4.16858123e-01 -1.05290379e-01 2.21159601e+02] [ 4.14141239e-01 9.08971294e-01 -4.75207398e-02 2.33358665e+01] [ 1.15515338e-01 -7.00853179e-04 9.93305449e-01 2.08913987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54863999999998 meters Centerline goodness : 0.997640 with order 1 Centerline is valid? [True, True] Translation: X:221.21, Y:23.36, Z:20.90 [[ 9.02166731e-01 -4.18343283e-01 -1.05280989e-01 2.21213396e+02] [ 4.15634044e-01 9.08288580e-01 -4.75415324e-02 2.33575219e+01] [ 1.15514201e-01 -8.67974577e-04 9.93305449e-01 2.08987136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60863999999998 meters Centerline goodness : 0.998379 with order 1 Centerline is valid? [True, True] Translation: X:221.27, Y:23.38, Z:20.90 [[ 9.00313257e-01 -4.22318915e-01 -1.05274750e-01 2.21268528e+02] [ 4.19635093e-01 9.06446291e-01 -4.75553444e-02 2.33770233e+01] [ 1.15509428e-01 -1.36227257e-03 9.93305450e-01 2.09045465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66863999999998 meters Centerline goodness : 0.985997 with order 1 Centerline is valid? [True, True] Translation: X:221.32, Y:23.39, Z:20.93 [[ 8.98490272e-01 -4.26185128e-01 -1.05268551e-01 2.21322597e+02] [ 4.23526087e-01 9.04634091e-01 -4.75690638e-02 2.33936264e+01] [ 1.15502747e-01 -1.84363629e-03 9.93305450e-01 2.09332439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72863999999998 meters Centerline goodness : 0.997492 with order 1 Centerline is valid? [True, True] Translation: X:221.38, Y:23.42, Z:20.92 [[ 9.00870293e-01 -4.21132473e-01 -1.05262319e-01 2.21378855e+02] [ 4.18437359e-01 9.06998373e-01 -4.75828505e-02 2.34173958e+01] [ 1.15511435e-01 -1.17971019e-03 9.93305450e-01 2.09210453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78864 meters Centerline goodness : 0.997690 with order 1 Centerline is valid? [True, True] Translation: X:221.43, Y:23.44, Z:20.93 [[ 9.03272121e-01 -4.15961413e-01 -1.05240571e-01 2.21431981e+02] [ 4.13225616e-01 9.09382146e-01 -4.76309029e-02 2.34398066e+01] [ 1.15516514e-01 -4.64432962e-04 9.93305451e-01 2.09284106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84864 meters Centerline goodness : 0.997741 with order 1 Centerline is valid? [True, True] Translation: X:221.49, Y:23.46, Z:20.94 [[ 9.04123046e-01 -4.14115107e-01 -1.05214996e-01 2.21485695e+02] [ 4.11360266e-01 9.10224506e-01 -4.76873302e-02 2.34628787e+01] [ 1.15517312e-01 -1.66054422e-04 9.93305453e-01 2.09354889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90864 meters Centerline goodness : 0.985963 with order 1 Centerline is valid? [True, True] Translation: X:221.54, Y:23.49, Z:20.96 [[ 9.03388221e-01 -4.15721346e-01 -1.05192609e-01 2.21536841e+02] [ 4.12971608e-01 9.09491980e-01 -4.77366624e-02 2.34863121e+01] [ 1.15516984e-01 -3.16822412e-04 9.93305455e-01 2.09609191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96863999999997 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:221.59, Y:23.51, Z:20.95 [[ 9.04862201e-01 -4.12508965e-01 -1.05170103e-01 2.21590979e+02] [ 4.09731799e-01 9.10953529e-01 -4.77861943e-02 2.35133658e+01] [ 1.15517310e-01 1.48385256e-04 9.93305456e-01 2.09477645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02863999999997 meters Centerline goodness : 0.987727 with order 1 Centerline is valid? [True, True] Translation: X:221.64, Y:23.54, Z:20.97 [[ 9.04302116e-01 -4.13741087e-01 -1.05147498e-01 2.21642087e+02] [ 4.10966443e-01 9.10394591e-01 -4.78358843e-02 2.35369300e+01] [ 1.15517384e-01 4.59983448e-05 9.93305458e-01 2.09726028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08863999999997 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:221.70, Y:23.56, Z:20.96 [[ 9.05692628e-01 -4.10694088e-01 -1.05124829e-01 2.21697116e+02] [ 4.07893171e-01 9.11773067e-01 -4.78856490e-02 2.35620228e+01] [ 1.15516341e-01 4.89979281e-04 9.93305459e-01 2.09617115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14863999999997 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:221.75, Y:23.59, Z:20.97 [[ 9.05496754e-01 -4.11131547e-01 -1.05102235e-01 2.21749307e+02] [ 4.08327816e-01 9.11575895e-01 -4.79351907e-02 2.35853431e+01] [ 1.15516333e-01 4.88993730e-04 9.93305460e-01 2.09688142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20863999999997 meters Centerline goodness : 0.988052 with order 1 Centerline is valid? [True, True] Translation: X:221.80, Y:23.61, Z:20.99 [[ 9.04223960e-01 -4.13929945e-01 -1.05076311e-01 2.21799237e+02] [ 4.11138431e-01 9.10308719e-01 -4.79919504e-02 2.36112178e+01] [ 1.15517187e-01 1.94561910e-04 9.93305462e-01 2.09925885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26863999999998 meters Centerline goodness : 0.998184 with order 1 Centerline is valid? [True, True] Translation: X:221.85, Y:23.64, Z:20.98 [[ 9.04720652e-01 -4.12844858e-01 -1.05069813e-01 2.21854912e+02] [ 4.10044395e-01 9.10801296e-01 -4.80061712e-02 2.36366341e+01] [ 1.15516823e-01 3.48886495e-04 9.93305463e-01 2.09836143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32863999999998 meters Centerline goodness : 0.984354 with order 1 Centerline is valid? [True, True] Translation: X:221.91, Y:23.66, Z:21.01 [[ 9.03402766e-01 -4.15721598e-01 -1.05066627e-01 2.21905866e+02] [ 4.12939687e-01 9.09491920e-01 -4.80131445e-02 2.36624959e+01] [ 1.15517349e-01 -1.09723407e-05 9.93305463e-01 2.10113970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38863999999998 meters Centerline goodness : 0.997842 with order 1 Centerline is valid? [True, True] Translation: X:221.96, Y:23.69, Z:21.00 [[ 9.03584180e-01 -4.15327548e-01 -1.05065014e-01 2.21961685e+02] [ 4.12542572e-01 9.09671933e-01 -4.80166738e-02 2.36890058e+01] [ 1.15517341e-01 4.33159073e-05 9.93305463e-01 2.09963643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44863999999998 meters Centerline goodness : 0.997547 with order 1 Centerline is valid? [True, True] Translation: X:222.01, Y:23.72, Z:21.01 [[ 9.03211072e-01 -4.16139148e-01 -1.05061736e-01 2.22012983e+02] [ 4.13358808e-01 9.09300944e-01 -4.80238440e-02 2.37153367e+01] [ 1.15517337e-01 -5.25263271e-05 9.93305463e-01 2.10060473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50863999999999 meters Centerline goodness : 0.985391 with order 1 Centerline is valid? [True, True] Translation: X:222.06, Y:23.74, Z:21.03 [[ 9.02635126e-01 -4.17389375e-01 -1.05052080e-01 2.22063208e+02] [ 4.14615012e-01 9.08727723e-01 -4.80449566e-02 2.37409160e+01] [ 1.15517192e-01 -1.89104175e-04 9.93305463e-01 2.10299288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56864 meters Centerline goodness : 0.983664 with order 1 Centerline is valid? [True, True] Translation: X:222.12, Y:23.77, Z:21.04 [[ 9.02003492e-01 -4.18754236e-01 -1.05045652e-01 2.22116257e+02] [ 4.15987456e-01 9.08099536e-01 -4.80590076e-02 2.37657912e+01] [ 1.15516821e-01 -3.48280880e-04 9.93305463e-01 2.10380410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62864 meters Centerline goodness : 0.984590 with order 1 Centerline is valid? [True, True] Translation: X:222.17, Y:23.79, Z:21.04 [[ 9.00265457e-01 -4.22479413e-01 -1.05039291e-01 2.22169843e+02] [ 4.19736235e-01 9.06372158e-01 -4.80729058e-02 2.37891860e+01] [ 1.15514502e-01 -8.10420147e-04 9.93305463e-01 2.10436770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68863999999996 meters Centerline goodness : 0.997252 with order 1 Centerline is valid? [True, True] Translation: X:222.23, Y:23.81, Z:21.03 [[ 8.95665675e-01 -4.32147082e-01 -1.05032844e-01 2.22228195e+02] [ 4.29468157e-01 9.01800834e-01 -4.80869882e-02 2.38077821e+01] [ 1.15499358e-01 -2.03839721e-03 9.93305463e-01 2.10312073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74863999999997 meters Centerline goodness : 0.998037 with order 1 Centerline is valid? [True, True] Translation: X:222.29, Y:23.82, Z:21.04 [[ 8.92785571e-01 -4.38071625e-01 -1.05010355e-01 2.22285471e+02] [ 4.35427638e-01 8.98935867e-01 -4.81360483e-02 2.38221154e+01] [ 1.15484612e-01 -2.74924156e-03 9.93305465e-01 2.10381921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80863999999997 meters Centerline goodness : 0.985275 with order 1 Centerline is valid? [True, True] Translation: X:222.34, Y:23.84, Z:21.07 [[ 8.93402399e-01 -4.36813769e-01 -1.05004212e-01 2.22341410e+02] [ 4.34159549e-01 8.99548285e-01 -4.81494453e-02 2.38357100e+01] [ 1.15488700e-01 -2.57175146e-03 9.93305465e-01 2.10660533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86863999999997 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:222.40, Y:23.85, Z:21.06 [[ 8.95201027e-01 -4.33118536e-01 -1.04992640e-01 2.22400610e+02] [ 4.30435987e-01 9.01334601e-01 -4.81746670e-02 2.38509901e+01] [ 1.15498840e-01 -2.06659903e-03 9.93305465e-01 2.10550126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92863999999997 meters Centerline goodness : 0.997253 with order 1 Centerline is valid? [True, True] Translation: X:222.46, Y:23.87, Z:21.06 [[ 8.96121718e-01 -4.31215814e-01 -1.04970420e-01 2.22457433e+02] [ 4.28514576e-01 9.02247082e-01 -4.82230344e-02 2.38665329e+01] [ 1.15503790e-01 -1.76764655e-03 9.93305467e-01 2.10627233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98863999999998 meters Centerline goodness : 0.997693 with order 1 Centerline is valid? [True, True] Translation: X:222.51, Y:23.88, Z:21.07 [[ 8.96354880e-01 -4.30736325e-01 -1.04948307e-01 2.22512627e+02] [ 4.28026182e-01 9.02476308e-01 -4.82711117e-02 2.38831943e+01] [ 1.15505482e-01 -1.65257662e-03 9.93305468e-01 2.10697832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04863999999998 meters Centerline goodness : 0.979134 with order 1 Centerline is valid? [True, True] Translation: X:222.57, Y:23.90, Z:21.10 [[ 8.96629493e-01 -4.30170705e-01 -1.04922431e-01 2.22567556e+02] [ 4.27450127e-01 9.02746289e-01 -4.83272915e-02 2.38999460e+01] [ 1.15507320e-01 -1.51743150e-03 9.93305470e-01 2.11009233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10863999999998 meters Centerline goodness : 0.978139 with order 1 Centerline is valid? [True, True] Translation: X:222.62, Y:23.92, Z:21.11 [[ 9.00879594e-01 -4.21197712e-01 -1.04921140e-01 2.22618883e+02] [ 4.18415875e-01 9.06968774e-01 -4.83300934e-02 2.39247367e+01] [ 1.15516723e-01 -3.61075775e-04 9.93305470e-01 2.11099891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16863999999998 meters Centerline goodness : 0.997102 with order 1 Centerline is valid? [True, True] Translation: X:222.67, Y:23.95, Z:21.09 [[ 9.05395620e-01 -4.11407119e-01 -1.04894966e-01 2.22674516e+02] [ 4.08552864e-01 9.11451190e-01 -4.83868348e-02 2.39533907e+01] [ 1.15513330e-01 9.54089498e-04 9.93305472e-01 2.10935123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22863999999998 meters Centerline goodness : 0.975985 with order 1 Centerline is valid? [True, True] Translation: X:222.72, Y:23.98, Z:21.13 [[ 9.07402713e-01 -4.06961292e-01 -1.04894342e-01 2.22723700e+02] [ 4.04077213e-01 9.13444136e-01 -4.83881880e-02 2.39832884e+01] [ 1.15507241e-01 1.52215980e-03 9.93305472e-01 2.11270151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28864 meters Centerline goodness : 0.976587 with order 1 Centerline is valid? [True, True] Translation: X:222.77, Y:24.01, Z:21.13 [[ 9.08160930e-01 -4.05267005e-01 -1.04892232e-01 2.22772828e+02] [ 4.02371126e-01 9.14196706e-01 -4.83927619e-02 2.40149633e+01] [ 1.15504122e-01 1.74281022e-03 9.93305472e-01 2.11338173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34864 meters Centerline goodness : 0.996813 with order 1 Centerline is valid? [True, True] Translation: X:222.83, Y:24.05, Z:21.12 [[ 9.08612925e-01 -4.04255883e-01 -1.04879616e-01 2.22825588e+02] [ 4.01350134e-01 9.14643955e-01 -4.84200881e-02 2.40496551e+01] [ 1.15501612e-01 1.90166988e-03 9.93305472e-01 2.11171263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40863999999996 meters Centerline goodness : 0.996763 with order 1 Centerline is valid? [True, True] Translation: X:222.88, Y:24.08, Z:21.12 [[ 9.06937384e-01 -4.08001445e-01 -1.04878040e-01 2.22875905e+02] [ 4.05120211e-01 9.12980164e-01 -4.84235014e-02 2.40778299e+01] [ 1.15508429e-01 1.42886994e-03 9.93305472e-01 2.11233896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46863999999997 meters Centerline goodness : 0.977722 with order 1 Centerline is valid? [True, True] Translation: X:222.93, Y:24.11, Z:21.15 [[ 9.02793173e-01 -4.17097954e-01 -1.04851247e-01 2.22925553e+02] [ 4.14270881e-01 9.08861478e-01 -4.84814485e-02 2.41056655e+01] [ 1.15516772e-01 3.31902461e-04 9.93305474e-01 2.11518955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52863999999997 meters Centerline goodness : 0.996466 with order 1 Centerline is valid? [True, True] Translation: X:222.98, Y:24.14, Z:21.14 [[ 9.00800719e-01 -4.21384468e-01 -1.04848432e-01 2.22980062e+02] [ 4.18585563e-01 9.06882068e-01 -4.84875353e-02 2.41360565e+01] [ 1.15517057e-01 -2.10433155e-04 9.93305474e-01 2.11371988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58863999999997 meters Centerline goodness : 0.976900 with order 1 Centerline is valid? [True, True] Translation: X:223.03, Y:24.16, Z:21.17 [[ 8.97262118e-01 -4.28868074e-01 -1.04846873e-01 2.23030338e+02] [ 4.26119492e-01 9.03366377e-01 -4.84909048e-02 2.41624763e+01] [ 1.15511341e-01 -1.16824448e-03 9.93305474e-01 2.11665377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64863999999997 meters Centerline goodness : 0.984396 with order 1 Centerline is valid? [True, True] Translation: X:223.08, Y:24.19, Z:21.17 [[ 8.93870503e-01 -4.35893546e-01 -1.04844364e-01 2.23084455e+02] [ 4.33192298e-01 8.99995855e-01 -4.84963296e-02 2.41904175e+01] [ 1.15498730e-01 -2.06833248e-03 9.93305474e-01 2.11676332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70863999999997 meters Centerline goodness : 0.995928 with order 1 Centerline is valid? [True, True] Translation: X:223.14, Y:24.22, Z:21.16 [[ 8.92867798e-01 -4.37944067e-01 -1.04843171e-01 2.23140022e+02] [ 4.35256583e-01 8.98999201e-01 -4.84989095e-02 2.42159662e+01] [ 1.15493736e-01 -2.33056564e-03 9.93305474e-01 2.11584788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76863999999998 meters Centerline goodness : 0.984340 with order 1 Centerline is valid? [True, True] Translation: X:223.19, Y:24.24, Z:21.18 [[ 8.89943366e-01 -4.43857411e-01 -1.04839894e-01 2.23192654e+02] [ 4.41209826e-01 8.96092104e-01 -4.85059926e-02 2.42376780e+01] [ 1.15475945e-01 -3.08880484e-03 9.93305474e-01 2.11819690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82863999999998 meters Centerline goodness : 0.996271 with order 1 Centerline is valid? [True, True] Translation: X:223.25, Y:24.26, Z:21.17 [[ 8.89873149e-01 -4.43999650e-01 -1.04833626e-01 2.23248524e+02] [ 4.41351454e-01 8.96021623e-01 -4.85195342e-02 2.42595188e+01] [ 1.15475852e-01 -3.09224271e-03 9.93305474e-01 2.11731903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88863999999998 meters Centerline goodness : 0.986082 with order 1 Centerline is valid? [True, True] Translation: X:223.30, Y:24.28, Z:21.19 [[ 8.88972712e-01 -4.45805022e-01 -1.04811257e-01 2.23301585e+02] [ 4.43163625e-01 8.95124108e-01 -4.85678083e-02 2.42797649e+01] [ 1.15470856e-01 -3.27308034e-03 9.93305476e-01 2.11945461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94863999999998 meters Centerline goodness : 0.996812 with order 1 Centerline is valid? [True, True] Translation: X:223.36, Y:24.30, Z:21.19 [[ 8.90755112e-01 -4.42234376e-01 -1.04804997e-01 2.23358115e+02] [ 4.39566730e-01 8.96895170e-01 -4.85813130e-02 2.43004445e+01] [ 1.15483422e-01 -2.79473686e-03 9.93305476e-01 2.11870273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00863999999999 meters Centerline goodness : 0.995441 with order 1 Centerline is valid? [True, True] Translation: X:223.41, Y:24.32, Z:21.20 [[ 8.91114530e-01 -4.41515004e-01 -1.04782609e-01 2.23412222e+02] [ 4.38836732e-01 8.97249959e-01 -4.86295540e-02 2.43213887e+01] [ 1.15486869e-01 -2.64795530e-03 9.93305477e-01 2.11951219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06864 meters Centerline goodness : 0.995720 with order 1 Centerline is valid? [True, True] Translation: X:223.47, Y:24.34, Z:21.20 [[ 8.91247000e-01 -4.41253498e-01 -1.04757509e-01 2.23466476e+02] [ 4.38567080e-01 8.97378865e-01 -4.86835630e-02 2.43421829e+01] [ 1.15488967e-01 -2.55411558e-03 9.93305479e-01 2.12026638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12864 meters Centerline goodness : 0.989683 with order 1 Centerline is valid? [True, True] Translation: X:223.52, Y:24.36, Z:21.22 [[ 8.88925424e-01 -4.45917893e-01 -1.04732145e-01 2.23520404e+02] [ 4.43257229e-01 8.95068506e-01 -4.87380677e-02 2.43609999e+01] [ 1.15475621e-01 -3.09877299e-03 9.93305481e-01 2.12201837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18863999999996 meters Centerline goodness : 0.996028 with order 1 Centerline is valid? [True, True] Translation: X:223.58, Y:24.38, Z:21.22 [[ 8.90403757e-01 -4.42963983e-01 -1.04709401e-01 2.23578328e+02] [ 4.40277199e-01 8.96535458e-01 -4.87868841e-02 2.43787837e+01] [ 1.15486523e-01 -2.66113674e-03 9.93305482e-01 2.12153491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24863999999997 meters Centerline goodness : 0.995975 with order 1 Centerline is valid? [True, True] Translation: X:223.63, Y:24.40, Z:21.22 [[ 8.90196628e-01 -4.43385317e-01 -1.04687268e-01 2.23632814e+02] [ 4.40695858e-01 8.96327155e-01 -4.88343316e-02 2.43999681e+01] [ 1.15486466e-01 -2.66308796e-03 9.93305484e-01 2.12232779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30863999999997 meters Centerline goodness : 0.995436 with order 1 Centerline is valid? [True, True] Translation: X:223.69, Y:24.42, Z:21.23 [[ 8.90434784e-01 -4.42912099e-01 -1.04665031e-01 2.23687643e+02] [ 4.40213788e-01 8.96561418e-01 -4.88819440e-02 2.44185382e+01] [ 1.15489033e-01 -2.54880672e-03 9.93305485e-01 2.12339726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36863999999997 meters Centerline goodness : 0.995190 with order 1 Centerline is valid? [True, True] Translation: X:223.74, Y:24.44, Z:21.24 [[ 8.90988964e-01 -4.41798105e-01 -1.04657064e-01 2.23741486e+02] [ 4.39090131e-01 8.97111333e-01 -4.88989959e-02 2.44397616e+01] [ 1.15492522e-01 -2.38541835e-03 9.93305485e-01 2.12419431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42863999999997 meters Centerline goodness : 0.994264 with order 1 Centerline is valid? [True, True] Translation: X:223.80, Y:24.46, Z:21.25 [[ 8.91550498e-01 -4.40669842e-01 -1.04631736e-01 2.23797584e+02] [ 4.37947769e-01 8.97666610e-01 -4.89531322e-02 2.44576396e+01] [ 1.15496585e-01 -2.17904600e-03 9.93305487e-01 2.12525846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48863999999998 meters Centerline goodness : 0.994107 with order 1 Centerline is valid? [True, True] Translation: X:223.85, Y:24.48, Z:21.26 [[ 8.93280765e-01 -4.37157108e-01 -1.04609455e-01 2.23852654e+02] [ 4.34405412e-01 8.99383605e-01 -4.90007000e-02 2.44764134e+01] [ 1.15505033e-01 -1.67153056e-03 9.93305488e-01 2.12601343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54863999999998 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:223.91, Y:24.50, Z:21.26 [[ 8.95368299e-01 -4.32871698e-01 -1.04583476e-01 2.23908429e+02] [ 4.30084321e-01 9.01454923e-01 -4.90560842e-02 2.44969161e+01] [ 1.15512280e-01 -1.05645078e-03 9.93305490e-01 2.12570501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60863999999998 meters Centerline goodness : 0.998333 with order 1 Centerline is valid? [True, True] Translation: X:223.97, Y:24.51, Z:21.26 [[ 8.96493003e-01 -4.30543097e-01 -1.04560689e-01 2.23965628e+02] [ 4.27734251e-01 9.02569747e-01 -4.91046063e-02 2.45136087e+01] [ 1.15514964e-01 -7.02252086e-04 9.93305492e-01 2.12626385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66863999999998 meters Centerline goodness : 0.998526 with order 1 Centerline is valid? [True, True] Translation: X:224.02, Y:24.53, Z:21.27 [[ 8.98108444e-01 -4.27168772e-01 -1.04537380e-01 2.24021028e+02] [ 4.24331323e-01 9.04171884e-01 -4.91541780e-02 2.45301849e+01] [ 1.15516890e-01 -2.12702620e-04 9.93305493e-01 2.12692519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72863999999998 meters Centerline goodness : 0.997645 with order 1 Centerline is valid? [True, True] Translation: X:224.08, Y:24.55, Z:21.28 [[ 9.00264014e-01 -4.22613611e-01 -1.04510485e-01 2.24075401e+02] [ 4.19738851e-01 9.06309851e-01 -4.92112976e-02 2.45504767e+01] [ 1.15516246e-01 4.36049647e-04 9.93305495e-01 2.12760005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78864 meters Centerline goodness : 0.992492 with order 1 Centerline is valid? [True, True] Translation: X:224.13, Y:24.57, Z:21.30 [[ 9.01808321e-01 -4.19315014e-01 -1.04482880e-01 2.24127049e+02] [ 4.16411356e-01 9.07840330e-01 -4.92698364e-02 2.45725359e+01] [ 1.15513355e-01 9.24090515e-04 9.93305497e-01 2.12955764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84864 meters Centerline goodness : 0.998822 with order 1 Centerline is valid? [True, True] Translation: X:224.18, Y:24.60, Z:21.29 [[ 9.04771384e-01 -4.12889551e-01 -1.04455547e-01 2.24180611e+02] [ 4.09936379e-01 9.10779305e-01 -4.93277166e-02 2.45979715e+01] [ 1.15502850e-01 1.81017749e-03 9.93305499e-01 2.12890361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90863999999996 meters Centerline goodness : 0.991606 with order 1 Centerline is valid? [True, True] Translation: X:224.23, Y:24.63, Z:21.31 [[ 9.07103774e-01 -4.07746774e-01 -1.04428499e-01 2.24227749e+02] [ 4.04752962e-01 9.13091545e-01 -4.93849126e-02 2.46295485e+01] [ 1.15489319e-01 2.52949613e-03 9.93305501e-01 2.13121214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96863999999997 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:224.28, Y:24.66, Z:21.30 [[ 9.07318268e-01 -4.07275178e-01 -1.04405414e-01 2.24280809e+02] [ 4.04272646e-01 9.13301670e-01 -4.94336697e-02 2.46593562e+01] [ 1.15486746e-01 2.64381852e-03 9.93305503e-01 2.13016921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02863999999997 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:224.33, Y:24.69, Z:21.31 [[ 9.06810450e-01 -4.08410436e-01 -1.04382586e-01 2.24330073e+02] [ 4.05409855e-01 9.12794828e-01 -4.94818269e-02 2.46920171e+01] [ 1.15488779e-01 2.55290872e-03 9.93305504e-01 2.13072965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:224.38, Y:24.72, Z:21.31 [[ 9.05617962e-01 -4.11053742e-01 -1.04359611e-01 2.24381674e+02] [ 4.08065053e-01 9.11608287e-01 -4.95302355e-02 2.47197165e+01] [ 1.15494675e-01 2.26996085e-03 9.93305506e-01 2.13136750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14863999999997 meters Centerline goodness : 0.996369 with order 1 Centerline is valid? [True, True] Translation: X:224.43, Y:24.75, Z:21.34 [[ 9.03214413e-01 -4.16314339e-01 -1.04336448e-01 2.24430882e+02] [ 4.13354913e-01 9.09219248e-01 -4.95789809e-02 2.47485281e+01] [ 1.15505147e-01 1.65246675e-03 9.93305507e-01 2.13367567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:224.49, Y:24.77, Z:21.33 [[ 8.99285469e-01 -4.24740449e-01 -1.04312975e-01 2.24485910e+02] [ 4.21831569e-01 9.05314949e-01 -4.96283193e-02 2.47723033e+01] [ 1.15515250e-01 6.27520664e-04 9.93305509e-01 2.13252566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26863999999998 meters Centerline goodness : 0.997495 with order 1 Centerline is valid? [True, True] Translation: X:224.54, Y:24.80, Z:21.35 [[ 8.97608663e-01 -4.28279254e-01 -1.04285998e-01 2.24536687e+02] [ 4.25387566e-01 9.03646405e-01 -4.96849422e-02 2.47972093e+01] [ 1.15516697e-01 2.35667639e-04 9.93305510e-01 2.13472771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32863999999998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:224.59, Y:24.82, Z:21.34 [[ 8.95654121e-01 -4.32357709e-01 -1.04261727e-01 2.24591924e+02] [ 4.29487591e-01 9.01702144e-01 -4.97358218e-02 2.48215358e+01] [ 1.15516689e-01 -2.33024288e-04 9.93305512e-01 2.13359059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.65, Y:24.84, Z:21.34 [[ 8.93141003e-01 -4.37531443e-01 -1.04237161e-01 2.24645489e+02] [ 4.34690355e-01 8.99202716e-01 -4.97872561e-02 2.48448831e+01] [ 1.15513828e-01 -8.43848488e-04 9.93305514e-01 2.13416421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:224.70, Y:24.86, Z:21.35 [[ 8.91477656e-01 -4.40916263e-01 -1.04213427e-01 2.24701758e+02] [ 4.38092388e-01 8.97547405e-01 -4.98368861e-02 2.48633176e+01] [ 1.15510384e-01 -1.22663856e-03 9.93305515e-01 2.13486618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50863999999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:224.76, Y:24.89, Z:21.35 [[ 8.90869854e-01 -4.42148547e-01 -1.04190052e-01 2.24756553e+02] [ 4.39327358e-01 8.96940850e-01 -4.98857071e-02 2.48855230e+01] [ 1.15509206e-01 -1.33186751e-03 9.93305517e-01 2.13534651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:224.81, Y:24.91, Z:21.36 [[ 8.92078876e-01 -4.39709644e-01 -1.04166733e-01 2.24811487e+02] [ 4.36866176e-01 8.98139468e-01 -4.99343528e-02 2.49050877e+01] [ 1.15512870e-01 -9.61540794e-04 9.93305518e-01 2.13604628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:224.86, Y:24.93, Z:21.37 [[ 8.93485096e-01 -4.36851501e-01 -1.04140046e-01 2.24864734e+02] [ 4.33982165e-01 8.99533482e-01 -4.99899467e-02 2.49279880e+01] [ 1.15515642e-01 -5.29650500e-04 9.93305520e-01 2.13675279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:224.92, Y:24.95, Z:21.37 [[ 8.95165853e-01 -4.33398993e-01 -1.04131685e-01 2.24919288e+02] [ 4.30504304e-01 9.01202146e-01 -5.00073568e-02 2.49470664e+01] [ 1.15516837e-01 -6.42605864e-05 9.93305520e-01 2.13743482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74863999999997 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:224.97, Y:24.97, Z:21.38 [[ 8.96928399e-01 -4.29746105e-01 -1.04104433e-01 2.24973073e+02] [ 4.26820253e-01 9.02949647e-01 -5.00640271e-02 2.49709775e+01] [ 1.15515882e-01 4.69967249e-04 9.93305522e-01 2.13804180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80863999999997 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:225.03, Y:24.99, Z:21.39 [[ 8.97993986e-01 -4.27520877e-01 -1.04080265e-01 2.25027697e+02] [ 4.24574287e-01 9.04005111e-01 -5.01142201e-02 2.49915028e+01] [ 1.15513967e-01 8.12463789e-04 9.93305524e-01 2.13881023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86863999999997 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:225.08, Y:25.01, Z:21.39 [[ 8.99087279e-01 -4.25222742e-01 -1.04056158e-01 2.25080895e+02] [ 4.22255000e-01 9.05087988e-01 -5.01642275e-02 2.50142212e+01] [ 1.15510949e-01 1.16378603e-03 9.93305525e-01 2.13942478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92863999999997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:225.13, Y:25.04, Z:21.40 [[ 9.00041144e-01 -4.23206830e-01 -1.04028448e-01 2.25133272e+02] [ 4.20219014e-01 9.06031880e-01 -5.02216245e-02 2.50372493e+01] [ 1.15507225e-01 1.48679627e-03 9.93305527e-01 2.14017228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:225.18, Y:25.07, Z:21.41 [[ 9.02158389e-01 -4.18681205e-01 -1.04001391e-01 2.25183586e+02] [ 4.15656889e-01 9.08130780e-01 -5.02775953e-02 2.50662971e+01] [ 1.15497148e-01 2.12945999e-03 9.93305529e-01 2.14090805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04863999999998 meters Centerline goodness : 0.994807 with order 1 Centerline is valid? [True, True] Translation: X:225.23, Y:25.09, Z:21.44 [[ 9.04333532e-01 -4.13968787e-01 -1.03974546e-01 2.25232214e+02] [ 4.10906981e-01 9.10286788e-01 -5.03330495e-02 2.50943823e+01] [ 1.15482967e-01 2.79399764e-03 9.93305531e-01 2.14359880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10863999999998 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:225.28, Y:25.13, Z:21.42 [[ 9.06396920e-01 -4.09437085e-01 -1.03951419e-01 2.25284063e+02] [ 4.06340052e-01 9.12331925e-01 -5.03807690e-02 2.51272046e+01] [ 1.15465953e-01 3.42534909e-03 9.93305532e-01 2.14222448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16863999999998 meters Centerline goodness : 0.994998 with order 1 Centerline is valid? [True, True] Translation: X:225.33, Y:25.16, Z:21.45 [[ 9.06784471e-01 -4.08583856e-01 -1.03928610e-01 2.25331783e+02] [ 4.05475857e-01 9.12713739e-01 -5.04277763e-02 2.51562943e+01] [ 1.15461046e-01 3.58658216e-03 9.93305534e-01 2.14480534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22863999999998 meters Centerline goodness : 0.932951 with order 3 Centerline is valid? [True, False] Translation: X:225.35, Y:25.16, Z:21.46 [[ 9.16297948e-01 -3.84475087e-01 -1.12147124e-01 2.25351973e+02] [ 3.82792387e-01 9.23091591e-01 -3.70392068e-02 2.51602594e+01] [ 1.17762719e-01 -8.99011593e-03 9.93001067e-01 2.14551366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28864 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [False, True] Translation: X:225.37, Y:25.16, Z:21.46 [[ 9.25175764e-01 -3.60029010e-01 -1.20120430e-01 2.25373732e+02] [ 3.59963812e-01 9.32682667e-01 -2.30020976e-02 2.51613954e+01] [ 1.20315666e-01 -2.19580249e-02 9.92492814e-01 2.14619684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34864 meters Centerline goodness : 0.994555 with order 1 Centerline is valid? [True, True] Translation: X:225.42, Y:25.21, Z:21.49 [[ 9.25304679e-01 -3.62828766e-01 -1.10302024e-01 2.25417017e+02] [ 3.59860854e-01 9.31850104e-01 -4.64279016e-02 2.52062209e+01] [ 1.19630331e-01 3.26657408e-03 9.92813131e-01 2.14868827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40863999999996 meters Centerline goodness : 0.994606 with order 1 Centerline is valid? [True, True] Translation: X:225.47, Y:25.23, Z:21.49 [[ 9.25946238e-01 -3.61189283e-01 -1.10298989e-01 2.25467803e+02] [ 3.58208924e-01 9.32486004e-01 -4.64351099e-02 2.52330395e+01] [ 1.19624128e-01 3.48633307e-03 9.92813131e-01 2.14943011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46863999999997 meters Centerline goodness : 0.997893 with order 1 Centerline is valid? [True, True] Translation: X:225.52, Y:25.26, Z:21.48 [[ 9.25253391e-01 -3.62967819e-01 -1.10274771e-01 2.25523075e+02] [ 3.59993191e-01 9.31795764e-01 -4.64925535e-02 2.52593190e+01] [ 1.19628865e-01 3.31922605e-03 9.92813133e-01 2.14838427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52863999999997 meters Centerline goodness : 0.998089 with order 1 Centerline is valid? [True, True] Translation: X:225.58, Y:25.29, Z:21.49 [[ 9.23730837e-01 -3.66826224e-01 -1.10271767e-01 2.25575737e+02] [ 3.63878077e-01 9.30285185e-01 -4.64996785e-02 2.52856967e+01] [ 1.19641492e-01 2.82770854e-03 9.92813133e-01 2.14902932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58863999999997 meters Centerline goodness : 0.994262 with order 1 Centerline is valid? [True, True] Translation: X:225.63, Y:25.32, Z:21.52 [[ 9.22736653e-01 -3.69326277e-01 -1.10250484e-01 2.25625289e+02] [ 3.66389869e-01 9.29296268e-01 -4.65500846e-02 2.53155661e+01] [ 1.19647533e-01 2.55880877e-03 9.92813135e-01 2.15154714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64863999999997 meters Centerline goodness : 0.993287 with order 1 Centerline is valid? [True, True] Translation: X:225.68, Y:25.34, Z:21.53 [[ 9.21552563e-01 -3.72271919e-01 -1.10247411e-01 2.25676671e+02] [ 3.69355609e-01 9.28121138e-01 -4.65573617e-02 2.53442314e+01] [ 1.19654951e-01 2.18455628e-03 9.92813135e-01 2.15251727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70863999999997 meters Centerline goodness : 0.998237 with order 1 Centerline is valid? [True, True] Translation: X:225.73, Y:25.38, Z:21.51 [[ 9.21779231e-01 -3.71716401e-01 -1.10226883e-01 2.25729928e+02] [ 3.68790329e-01 9.28343461e-01 -4.66059132e-02 2.53754230e+01] [ 1.19652588e-01 2.30975444e-03 9.92813136e-01 2.15121655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76863999999998 meters Centerline goodness : 0.993231 with order 1 Centerline is valid? [True, True] Translation: X:225.78, Y:25.40, Z:21.54 [[ 9.20662032e-01 -3.74480949e-01 -1.10206362e-01 2.25777285e+02] [ 3.71568787e-01 9.27232444e-01 -4.66543888e-02 2.54047913e+01] [ 1.19658094e-01 2.00368030e-03 9.92813137e-01 2.15424029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82863999999998 meters Centerline goodness : 0.994564 with order 1 Centerline is valid? [True, True] Translation: X:225.83, Y:25.43, Z:21.54 [[ 9.19896809e-01 -3.76359069e-01 -1.10198514e-01 2.25829997e+02] [ 3.73458104e-01 9.26472171e-01 -4.66729165e-02 2.54324258e+01] [ 1.19661632e-01 1.77973868e-03 9.92813138e-01 2.15438060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88863999999998 meters Centerline goodness : 0.994809 with order 1 Centerline is valid? [True, True] Translation: X:225.88, Y:25.46, Z:21.55 [[ 9.17899613e-01 -3.81205530e-01 -1.10193669e-01 2.25880736e+02] [ 3.78337912e-01 9.24489587e-01 -4.66843527e-02 2.54626897e+01] [ 1.19669233e-01 1.16110646e-03 9.92813138e-01 2.15528768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94863999999998 meters Centerline goodness : 0.994266 with order 1 Centerline is valid? [True, True] Translation: X:225.93, Y:25.49, Z:21.56 [[ 9.15694265e-01 -3.86479439e-01 -1.10171030e-01 2.25931483e+02] [ 3.83643356e-01 9.22297870e-01 -4.67377192e-02 2.54917564e+01] [ 1.19673674e-01 5.31077728e-04 9.92813139e-01 2.15590809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00863999999999 meters Centerline goodness : 0.997844 with order 1 Centerline is valid? [True, True] Translation: X:225.99, Y:25.52, Z:21.55 [[ 9.13955017e-01 -3.90581032e-01 -1.10148464e-01 2.25986383e+02] [ 3.87768181e-01 9.20568550e-01 -4.67908420e-02 2.55207969e+01] [ 1.19674827e-01 5.26552839e-05 9.92813141e-01 2.15460864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06864 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:226.04, Y:25.55, Z:21.55 [[ 9.11940545e-01 -3.95262834e-01 -1.10144154e-01 2.26039559e+02] [ 3.92482711e-01 9.18567901e-01 -4.68009860e-02 2.55454648e+01] [ 1.19673574e-01 -5.49959341e-04 9.92813141e-01 2.15534332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12864 meters Centerline goodness : 0.996766 with order 1 Centerline is valid? [True, True] Translation: X:226.09, Y:25.57, Z:21.58 [[ 9.07636262e-01 -4.05054949e-01 -1.10122226e-01 2.26092630e+02] [ 4.02340063e-01 9.14290607e-01 -4.68525246e-02 2.55678684e+01] [ 1.19661564e-01 -1.78153315e-03 9.92813143e-01 2.15809290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18863999999996 meters Centerline goodness : 0.996571 with order 1 Centerline is valid? [True, True] Translation: X:226.15, Y:25.59, Z:21.59 [[ 9.04363883e-01 -4.12309514e-01 -1.10121893e-01 2.26147801e+02] [ 4.09647902e-01 9.11039716e-01 -4.68533067e-02 2.55887206e+01] [ 1.19643483e-01 -2.73876427e-03 9.92813143e-01 2.15932290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:226.21, Y:25.61, Z:21.57 [[ 9.03663339e-01 -4.13843050e-01 -1.10120383e-01 2.26205959e+02] [ 4.11192335e-01 9.10343506e-01 -4.68568565e-02 2.56104542e+01] [ 1.19638760e-01 -2.93783390e-03 9.92813143e-01 2.15743623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30863999999997 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:226.26, Y:25.63, Z:21.60 [[ 9.02323592e-01 -4.16761246e-01 -1.10100862e-01 2.26260637e+02] [ 4.14126546e-01 9.09010089e-01 -4.69026803e-02 2.56272760e+01] [ 1.19630014e-01 -3.27429482e-03 9.92813144e-01 2.16027749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.32, Y:25.65, Z:21.59 [[ 9.02884266e-01 -4.15545578e-01 -1.10099383e-01 2.26318337e+02] [ 4.12901451e-01 9.09567042e-01 -4.69061521e-02 2.56492011e+01] [ 1.19634414e-01 -3.10936842e-03 9.92813144e-01 2.15890577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42863999999997 meters Centerline goodness : 0.998624 with order 1 Centerline is valid? [True, True] Translation: X:226.37, Y:25.67, Z:21.62 [[ 9.02450041e-01 -4.16488539e-01 -1.10096418e-01 2.26371109e+02] [ 4.13850546e-01 9.09135240e-01 -4.69131110e-02 2.56674426e+01] [ 1.19631306e-01 -3.22672379e-03 9.92813144e-01 2.16206930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.43, Y:25.69, Z:21.60 [[ 9.02770895e-01 -4.15793780e-01 -1.10091975e-01 2.26428974e+02] [ 4.13149373e-01 9.09453560e-01 -4.69235351e-02 2.56897061e+01] [ 1.19634053e-01 -3.12322862e-03 9.92813144e-01 2.16033876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54863999999998 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:226.48, Y:25.71, Z:21.63 [[ 9.01879063e-01 -4.17725476e-01 -1.10088972e-01 2.26483480e+02] [ 4.15094522e-01 9.08567036e-01 -4.69305792e-02 2.57084683e+01] [ 1.19627310e-01 -3.37162241e-03 9.92813144e-01 2.16324570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.54, Y:25.73, Z:21.62 [[ 8.98542004e-01 -4.24856077e-01 -1.10088972e-01 2.26544581e+02] [ 4.22278180e-01 9.05250606e-01 -4.69305792e-02 2.57250037e+01] [ 1.19596851e-01 -4.31907404e-03 9.92813144e-01 2.16174322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:226.60, Y:25.74, Z:21.63 [[ 8.96956490e-01 -4.28193642e-01 -1.10087508e-01 2.26600414e+02] [ 4.25640282e-01 9.03674470e-01 -4.69340131e-02 2.57393260e+01] [ 1.19580117e-01 -4.75991039e-03 9.92813144e-01 2.16256191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72863999999998 meters Centerline goodness : 0.998529 with order 1 Centerline is valid? [True, True] Translation: X:226.66, Y:25.75, Z:21.66 [[ 8.97930294e-01 -4.26153754e-01 -1.10064367e-01 2.26655495e+02] [ 4.23578497e-01 9.04639909e-01 -4.69882194e-02 2.57517718e+01] [ 1.19592825e-01 -4.42875341e-03 9.92813146e-01 2.16572815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.71, Y:25.77, Z:21.64 [[ 8.98322686e-01 -4.25331266e-01 -1.10043926e-01 2.26714432e+02] [ 4.22744015e-01 9.05027684e-01 -4.70360434e-02 2.57690047e+01] [ 1.19598699e-01 -4.26686609e-03 9.92813147e-01 2.16410460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84864 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:226.77, Y:25.79, Z:21.67 [[ 9.00466727e-01 -4.20778579e-01 -1.10023004e-01 2.26767766e+02] [ 4.18151453e-01 9.07156200e-01 -4.70849324e-02 2.57853595e+01] [ 1.19620381e-01 -3.60786385e-03 9.92813149e-01 2.16681350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90863999999996 meters Centerline goodness : 0.997982 with order 1 Centerline is valid? [True, True] Translation: X:226.82, Y:25.80, Z:21.68 [[ 9.04538160e-01 -4.11955445e-01 -1.10015582e-01 2.26824402e+02] [ 4.09260942e-01 9.11200778e-01 -4.71022662e-02 2.58013390e+01] [ 1.19650319e-01 -2.41928359e-03 9.92813149e-01 2.16809995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:226.88, Y:25.82, Z:21.66 [[ 9.06754990e-01 -4.07053601e-01 -1.10012519e-01 2.26880778e+02] [ 4.04322207e-01 9.13402570e-01 -4.71094203e-02 2.58239868e+01] [ 1.19661776e-01 -1.76380249e-03 9.92813149e-01 2.16642886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:226.94, Y:25.84, Z:21.67 [[ 9.09649651e-01 -4.00545242e-01 -1.10004642e-01 2.26935448e+02] [ 3.97764058e-01 9.16276554e-01 -4.71278071e-02 2.58434597e+01] [ 1.19671493e-01 -8.86099346e-04 9.92813149e-01 2.16710741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:226.99, Y:25.87, Z:21.68 [[ 9.11975634e-01 -3.95227791e-01 -1.09979258e-01 2.26987323e+02] [ 3.92400830e-01 9.18583136e-01 -4.71869692e-02 2.58694497e+01] [ 1.19674693e-01 -1.22585994e-04 9.92813151e-01 2.16792234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.04, Y:25.89, Z:21.69 [[ 9.13083827e-01 -3.92667040e-01 -1.09956904e-01 2.27039945e+02] [ 3.89815281e-01 9.19680664e-01 -4.72390030e-02 2.58949697e+01] [ 1.19674438e-01 2.70288188e-04 9.92813153e-01 2.16873823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.09, Y:25.92, Z:21.70 [[ 9.13946441e-01 -3.90661505e-01 -1.09934036e-01 2.27090763e+02] [ 3.87788876e-01 9.20534214e-01 -4.72921613e-02 2.59234636e+01] [ 1.19673268e-01 5.91306140e-04 9.92813154e-01 2.16955091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26863999999998 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:227.14, Y:25.95, Z:21.72 [[ 9.14738339e-01 -3.88810079e-01 -1.09911302e-01 2.27140701e+02] [ 3.85917775e-01 9.21317496e-01 -4.73449395e-02 2.59497386e+01] [ 1.19671395e-01 8.91506268e-04 9.92813156e-01 2.17223497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.19, Y:25.98, Z:21.71 [[ 9.14978901e-01 -3.88250087e-01 -1.09888493e-01 2.27194313e+02] [ 3.85347405e-01 9.21553484e-01 -4.73978215e-02 2.59783530e+01] [ 1.19670332e-01 1.02276115e-03 9.92813158e-01 2.17094896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.25, Y:26.00, Z:21.72 [[ 9.14698696e-01 -3.88916214e-01 -1.09865708e-01 2.27245738e+02] [ 3.86011984e-01 9.21272593e-01 -4.74505779e-02 2.60035004e+01] [ 1.19670564e-01 9.93501994e-04 9.92813159e-01 2.17163366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.30, Y:26.03, Z:21.72 [[ 9.14481633e-01 -3.89433671e-01 -1.09839698e-01 2.27297861e+02] [ 3.86525937e-01 9.21053979e-01 -4.75107103e-02 2.60304896e+01] [ 1.19670561e-01 9.91779866e-04 9.92813161e-01 2.17249055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50863999999999 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:227.35, Y:26.06, Z:21.75 [[ 9.15105973e-01 -3.87970784e-01 -1.09816799e-01 2.27347571e+02] [ 3.85046199e-01 9.21670836e-01 -4.75635807e-02 2.60570802e+01] [ 1.19668221e-01 1.24117582e-03 9.92813163e-01 2.17517112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.40, Y:26.08, Z:21.74 [[ 9.15419447e-01 -3.87237033e-01 -1.09793974e-01 2.27400916e+02] [ 3.84300874e-01 9.21979140e-01 -4.76162120e-02 2.60842208e+01] [ 1.19666514e-01 1.39488650e-03 9.92813165e-01 2.17397157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.45, Y:26.11, Z:21.75 [[ 9.15075790e-01 -3.88055880e-01 -1.09767630e-01 2.27453772e+02] [ 3.85118316e-01 9.21634852e-01 -4.76768635e-02 2.61106327e+01] [ 1.19666961e-01 1.35441868e-03 9.92813167e-01 2.17456510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.51, Y:26.14, Z:21.75 [[ 9.14503300e-01 -3.89409117e-01 -1.09746318e-01 2.27506149e+02] [ 3.86475378e-01 9.21064071e-01 -4.77258720e-02 2.61375248e+01] [ 1.19668280e-01 1.23121779e-03 9.92813168e-01 2.17526901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.56, Y:26.16, Z:21.76 [[ 9.12862179e-01 -3.93247244e-01 -1.09723504e-01 2.27557770e+02] [ 3.90334792e-01 9.19432427e-01 -4.77782649e-02 2.61641565e+01] [ 1.19672019e-01 7.86069883e-04 9.92813170e-01 2.17593096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:227.61, Y:26.19, Z:21.77 [[ 9.10435578e-01 -3.98840281e-01 -1.09697259e-01 2.27609919e+02] [ 3.95960941e-01 9.17020401e-01 -4.78384471e-02 2.61891959e+01] [ 1.19674524e-01 1.17994226e-04 9.92813172e-01 2.17652234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86863999999997 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:227.66, Y:26.21, Z:21.79 [[ 9.08695210e-01 -4.02796865e-01 -1.09670875e-01 2.27662941e+02] [ 3.99938904e-01 9.15289338e-01 -4.78988580e-02 2.62108242e+01] [ 1.19674092e-01 -3.36186699e-04 9.92813174e-01 2.17906179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.72, Y:26.23, Z:21.78 [[ 9.06184300e-01 -4.08415262e-01 -1.09667629e-01 2.27720507e+02] [ 4.05597283e-01 9.12795613e-01 -4.79062885e-02 2.62326568e+01] [ 1.19669790e-01 -1.06896590e-03 9.92813174e-01 2.17779917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.78, Y:26.25, Z:21.78 [[ 9.03794550e-01 -4.13677572e-01 -1.09664391e-01 2.27776568e+02] [ 4.10897185e-01 9.10421760e-01 -4.79136998e-02 2.62500302e+01] [ 1.19661671e-01 -1.75664884e-03 9.92813174e-01 2.17849482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.83, Y:26.27, Z:21.79 [[ 9.03986906e-01 -4.13262944e-01 -1.09642205e-01 2.27830803e+02] [ 4.10473367e-01 9.10610251e-01 -4.79644144e-02 2.62696700e+01] [ 1.19663231e-01 -1.64600265e-03 9.92813176e-01 2.17906570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.89, Y:26.29, Z:21.80 [[ 9.04955968e-01 -4.11143325e-01 -1.09616889e-01 2.27885935e+02] [ 4.08331235e-01 9.11569784e-01 -4.80222027e-02 2.62895723e+01] [ 1.19667452e-01 -1.30202078e-03 9.92813178e-01 2.17984323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:227.94, Y:26.31, Z:21.80 [[ 9.04994342e-01 -4.11064780e-01 -1.09594653e-01 2.27939541e+02] [ 4.08245976e-01 9.11605298e-01 -4.80728953e-02 2.63120668e+01] [ 1.19668141e-01 -1.23587802e-03 9.92813179e-01 2.18047144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:228.00, Y:26.33, Z:21.81 [[ 9.05372536e-01 -4.10237132e-01 -1.09572197e-01 2.27995428e+02] [ 4.07406097e-01 9.11978262e-01 -4.81240255e-02 2.63303965e+01] [ 1.19669724e-01 -1.07021022e-03 9.92813181e-01 2.18108405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28864 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:228.05, Y:26.35, Z:21.84 [[ 9.04179304e-01 -4.12866349e-01 -1.09549821e-01 2.28048814e+02] [ 4.10048357e-01 9.10790603e-01 -4.81749092e-02 2.63522574e+01] [ 1.19666747e-01 -1.36196832e-03 9.92813182e-01 2.18376713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.11, Y:26.37, Z:21.82 [[ 9.03566421e-01 -4.14206117e-01 -1.09549145e-01 2.28106929e+02] [ 4.11397741e-01 9.10181811e-01 -4.81764470e-02 2.63726558e+01] [ 1.19664618e-01 -1.53765098e-03 9.92813182e-01 2.18239907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.16, Y:26.39, Z:21.83 [[ 9.04580778e-01 -4.11991721e-01 -1.09528254e-01 2.28161566e+02] [ 4.09161405e-01 9.11186809e-01 -4.82238964e-02 2.63927730e+01] [ 1.19668546e-01 -1.19232452e-03 9.92813184e-01 2.18306513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46863999999997 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:228.21, Y:26.41, Z:21.86 [[ 9.04819774e-01 -4.11472566e-01 -1.09505727e-01 2.28213390e+02] [ 4.08632276e-01 9.11421520e-01 -4.82749955e-02 2.64125158e+01] [ 1.19669713e-01 -1.06740397e-03 9.92813185e-01 2.18586320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.27, Y:26.43, Z:21.84 [[ 9.06531653e-01 -4.07690439e-01 -1.09493686e-01 2.28270139e+02] [ 4.04819308e-01 9.13120045e-01 -4.83022916e-02 2.64346956e+01] [ 1.19673262e-01 -5.37601848e-04 9.92813186e-01 2.18440969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58863999999997 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:228.32, Y:26.46, Z:21.87 [[ 9.05973044e-01 -4.08936283e-01 -1.09471275e-01 2.28322897e+02] [ 4.06068080e-01 9.12562709e-01 -4.83530292e-02 2.64553881e+01] [ 1.19672712e-01 -6.46249623e-04 9.92813187e-01 2.18712330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64863999999997 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:228.38, Y:26.48, Z:21.88 [[ 9.04353190e-01 -4.12507049e-01 -1.09467998e-01 2.28377776e+02] [ 4.09663966e-01 9.10953732e-01 -4.83604476e-02 2.64760538e+01] [ 1.19669307e-01 -1.11016918e-03 9.92813187e-01 2.18769223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.44, Y:26.50, Z:21.87 [[ 9.02120552e-01 -4.17373091e-01 -1.09445020e-01 2.28435362e+02] [ 4.14559307e-01 9.08733636e-01 -4.84123943e-02 2.64976928e+01] [ 1.19662402e-01 -1.69763569e-03 9.92813189e-01 2.18656022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76863999999998 meters Centerline goodness : 0.999410 with order 1 Centerline is valid? [True, True] Translation: X:228.49, Y:26.52, Z:21.89 [[ 9.01559938e-01 -4.18583532e-01 -1.09441786e-01 2.28488887e+02] [ 4.15777739e-01 9.08176417e-01 -4.84197040e-02 2.65191688e+01] [ 1.19660140e-01 -1.85019293e-03 9.92813189e-01 2.18904667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.55, Y:26.54, Z:21.88 [[ 9.01765308e-01 -4.18141335e-01 -1.09440186e-01 2.28546008e+02] [ 4.15331859e-01 9.08380223e-01 -4.84233200e-02 2.65416588e+01] [ 1.19661092e-01 -1.78752587e-03 9.92813189e-01 2.18796997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:228.60, Y:26.57, Z:21.89 [[ 9.03709469e-01 -4.13923602e-01 -1.09436954e-01 2.28599150e+02] [ 4.11082367e-01 9.10310805e-01 -4.84306237e-02 2.65654915e+01] [ 1.19668220e-01 -1.22038874e-03 9.92813189e-01 2.18865247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94863999999998 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:228.65, Y:26.59, Z:21.91 [[ 9.04324545e-01 -4.12584045e-01 -1.09414454e-01 2.28650337e+02] [ 4.09726888e-01 9.10919004e-01 -4.84814023e-02 2.65888010e+01] [ 1.19670359e-01 -9.87121652e-04 9.92813190e-01 2.19135456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00863999999999 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:228.70, Y:26.61, Z:21.92 [[ 9.04760351e-01 -4.11628773e-01 -1.09409599e-01 2.28702781e+02] [ 4.08763328e-01 9.11351213e-01 -4.84923569e-02 2.66129254e+01] [ 1.19671420e-01 -8.48669948e-04 9.92813190e-01 2.19186626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.76, Y:26.64, Z:21.91 [[ 9.04124131e-01 -4.13031408e-01 -1.09382867e-01 2.28758397e+02] [ 4.10168902e-01 9.10716267e-01 -4.85525804e-02 2.66376626e+01] [ 1.19670497e-01 -9.67890975e-04 9.92813193e-01 2.19076307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.81, Y:26.66, Z:21.91 [[ 9.03261767e-01 -4.14919591e-01 -1.09361388e-01 2.28811493e+02] [ 4.12065013e-01 9.09857339e-01 -4.86009133e-02 2.66612023e+01] [ 1.19668732e-01 -1.16465493e-03 9.92813194e-01 2.19147455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18863999999996 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:228.86, Y:26.68, Z:21.94 [[ 9.01801078e-01 -4.18090773e-01 -1.09338560e-01 2.28864932e+02] [ 4.15253167e-01 9.08403968e-01 -4.86522153e-02 2.66810500e+01] [ 1.19664624e-01 -1.52856334e-03 9.92813195e-01 2.19397443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.92, Y:26.71, Z:21.93 [[ 9.03307658e-01 -4.14826976e-01 -1.09333689e-01 2.28920942e+02] [ 4.11964187e-01 9.09899668e-01 -4.86631602e-02 2.67063442e+01] [ 1.19669479e-01 -1.08375910e-03 9.92813196e-01 2.19294691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:228.97, Y:26.73, Z:21.93 [[ 9.04640454e-01 -4.11913233e-01 -1.09330405e-01 2.28974582e+02] [ 4.09028319e-01 9.11222812e-01 -4.86705372e-02 2.67301899e+01] [ 1.19672397e-01 -6.89894893e-04 9.92813196e-01 2.19347015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36863999999997 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:229.03, Y:26.75, Z:21.96 [[ 9.05226777e-01 -4.10629251e-01 -1.09307369e-01 2.29027001e+02] [ 4.07728760e-01 9.11802283e-01 -4.87222187e-02 2.67529477e+01] [ 1.19673477e-01 -4.63100972e-04 9.92813197e-01 2.19605658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.08, Y:26.78, Z:21.95 [[ 9.04864311e-01 -4.11427802e-01 -1.09305731e-01 2.29083488e+02] [ 4.08532670e-01 9.11442179e-01 -4.87258940e-02 2.67773418e+01] [ 1.19673041e-01 -5.64639397e-04 9.92813197e-01 2.19478566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:229.14, Y:26.80, Z:21.95 [[ 9.04860181e-01 -4.11437774e-01 -1.09302385e-01 2.29136286e+02] [ 4.08541808e-01 9.11437682e-01 -4.87333976e-02 2.68006087e+01] [ 1.19673073e-01 -5.57682936e-04 9.92813197e-01 2.19546534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:229.19, Y:26.82, Z:21.96 [[ 9.04357109e-01 -4.12549364e-01 -1.09275991e-01 2.29190741e+02] [ 4.09654339e-01 9.10935022e-01 -4.87925105e-02 2.68223970e+01] [ 1.19672646e-01 -6.39530090e-04 9.92813199e-01 2.19598671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60863999999998 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:229.24, Y:26.85, Z:21.99 [[ 9.06593798e-01 -4.07616810e-01 -1.09253015e-01 2.29241451e+02] [ 4.04679801e-01 9.13153071e-01 -4.88439030e-02 2.68504823e+01] [ 1.19674322e-01 6.90911280e-05 9.92813201e-01 2.19862318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66863999999998 meters Centerline goodness : 0.997254 with order 1 Centerline is valid? [True, True] Translation: X:229.29, Y:26.88, Z:22.00 [[ 9.09040936e-01 -4.02129774e-01 -1.09253015e-01 2.29293008e+02] [ 3.99153174e-01 9.15582338e-01 -4.88439030e-02 2.68799300e+01] [ 1.19671719e-01 7.92419656e-04 9.92813201e-01 2.20017742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:229.34, Y:26.92, Z:21.98 [[ 9.10526321e-01 -3.98755782e-01 -1.09250376e-01 2.29344231e+02] [ 3.95754235e-01 9.17056313e-01 -4.88498057e-02 2.69162174e+01] [ 1.19667889e-01 1.24273508e-03 9.92813201e-01 2.19803424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.39, Y:26.95, Z:21.99 [[ 9.11072411e-01 -3.97512784e-01 -1.09227509e-01 2.29394581e+02] [ 3.94496205e-01 9.17595471e-01 -4.89008828e-02 2.69459719e+01] [ 1.19665393e-01 1.46240754e-03 9.92813202e-01 2.19875073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:229.44, Y:26.98, Z:21.99 [[ 9.09588835e-01 -4.00902165e-01 -1.09204423e-01 2.29442492e+02] [ 3.97903710e-01 9.16120244e-01 -4.89523837e-02 2.69815297e+01] [ 1.19669499e-01 1.07369657e-03 9.92813204e-01 2.19935372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90863999999996 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:229.49, Y:27.01, Z:22.02 [[ 9.05943936e-01 -4.09078349e-01 -1.09180993e-01 2.29491555e+02] [ 4.06132551e-01 9.12499261e-01 -4.90045856e-02 2.70118358e+01] [ 1.19674290e-01 5.34519332e-05 9.92813206e-01 2.20196273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:229.55, Y:27.04, Z:22.01 [[ 9.02048644e-01 -4.17598005e-01 -1.09179441e-01 2.29547430e+02] [ 4.14713698e-01 9.08631256e-01 -4.90080424e-02 2.70391165e+01] [ 1.19669514e-01 -1.07057176e-03 9.92813206e-01 2.20061887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:229.60, Y:27.07, Z:22.01 [[ 9.01266957e-01 -4.19283024e-01 -1.09177002e-01 2.29600034e+02] [ 4.16410365e-01 9.07854662e-01 -4.90134766e-02 2.70652628e+01] [ 1.19667369e-01 -1.28820831e-03 9.92813206e-01 2.20134311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08863999999997 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:229.65, Y:27.09, Z:22.04 [[ 9.02505105e-01 -4.16617118e-01 -1.09154533e-01 2.29652144e+02] [ 4.13718953e-01 9.09081627e-01 -4.90634645e-02 2.70893689e+01] [ 1.19671060e-01 -8.79271936e-04 9.92813207e-01 2.20385695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14863999999997 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:229.71, Y:27.11, Z:22.05 [[ 9.02978301e-01 -4.15590960e-01 -1.09152840e-01 2.29706252e+02] [ 4.12684867e-01 9.09551322e-01 -4.90672310e-02 2.71109329e+01] [ 1.19672008e-01 -7.39080347e-04 9.92813207e-01 2.20480796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20863999999997 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:229.76, Y:27.13, Z:22.05 [[ 9.00409581e-01 -4.21133301e-01 -1.09129871e-01 2.29761335e+02] [ 4.18261479e-01 9.06997647e-01 -4.91182625e-02 2.71302455e+01] [ 1.19665873e-01 -1.41826727e-03 9.92813209e-01 2.20537162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26863999999998 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:229.82, Y:27.15, Z:22.04 [[ 8.98340688e-01 -4.25534523e-01 -1.09107186e-01 2.29820134e+02] [ 4.22688862e-01 9.04940094e-01 -4.91686034e-02 2.71499192e+01] [ 1.19658405e-01 -1.94823512e-03 9.92813210e-01 2.20405422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:229.88, Y:27.17, Z:22.05 [[ 9.00236728e-01 -4.21509229e-01 -1.09104549e-01 2.29875054e+02] [ 4.18633349e-01 9.06823022e-01 -4.91744526e-02 2.71707028e+01] [ 1.19666003e-01 -1.40615451e-03 9.92813210e-01 2.20482796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38863999999998 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:229.93, Y:27.19, Z:22.08 [[ 9.04746284e-01 -4.11741915e-01 -1.09099758e-01 2.29928131e+02] [ 4.08793643e-01 9.11300491e-01 -4.91850803e-02 2.71921693e+01] [ 1.19674222e-01 -9.92690024e-05 9.92813210e-01 2.20775057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44863999999998 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:229.98, Y:27.22, Z:22.08 [[ 9.08551690e-01 -4.03275836e-01 -1.09098239e-01 2.29981309e+02] [ 4.00266088e-01 9.15077896e-01 -4.91884498e-02 2.72171319e+01] [ 1.19669900e-01 1.02192392e-03 9.92813210e-01 2.20826492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50863999999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:230.03, Y:27.25, Z:22.09 [[ 9.13772628e-01 -3.91308347e-01 -1.09075027e-01 2.30032420e+02] [ 3.88207010e-01 9.20255808e-01 -4.92398679e-02 2.72479096e+01] [ 1.19644899e-01 2.65035325e-03 9.92813212e-01 2.20863981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:230.08, Y:27.28, Z:22.10 [[ 9.15070970e-01 -3.88269023e-01 -1.09051752e-01 2.30082983e+02] [ 3.85140022e-01 9.21540843e-01 -4.92913631e-02 2.72780948e+01] [ 1.19633953e-01 3.10490141e-03 9.92813214e-01 2.20966679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:230.14, Y:27.31, Z:22.08 [[ 9.15759562e-01 -3.86648109e-01 -1.09030565e-01 2.30135895e+02] [ 3.83502086e-01 9.22221174e-01 -4.93381845e-02 2.73116863e+01] [ 1.19626811e-01 3.36846522e-03 9.92813215e-01 2.20826275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.19, Y:27.34, Z:22.09 [[ 9.15255825e-01 -3.87839933e-01 -1.09027344e-01 2.30187870e+02] [ 3.84701478e-01 9.21721115e-01 -4.93452996e-02 2.73376515e+01] [ 1.19630883e-01 3.22059240e-03 9.92813215e-01 2.20891746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:230.24, Y:27.37, Z:22.10 [[ 9.13565788e-01 -3.91810599e-01 -1.09004611e-01 2.30237372e+02] [ 3.88694266e-01 9.20041768e-01 -4.93954678e-02 2.73698982e+01] [ 1.19642463e-01 2.75654237e-03 9.92813216e-01 2.20960223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.29, Y:27.40, Z:22.10 [[ 9.10012646e-01 -3.99999966e-01 -1.08981702e-01 2.30288023e+02] [ 3.96935876e-01 9.16513506e-01 -4.94459606e-02 2.73979650e+01] [ 1.19661584e-01 1.73770212e-03 9.92813218e-01 2.21024404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86863999999997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:230.34, Y:27.42, Z:22.13 [[ 9.06049524e-01 -4.08904657e-01 -1.08955232e-01 2.30339751e+02] [ 4.05897457e-01 9.12576893e-01 -4.95042204e-02 2.74230547e+01] [ 1.19672533e-01 6.28623906e-04 9.92813220e-01 2.21265956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92863999999997 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:230.39, Y:27.44, Z:22.14 [[ 9.02500028e-01 -4.16680549e-01 -1.08954209e-01 2.30393865e+02] [ 4.13729317e-01 9.09052893e-01 -4.95064700e-02 2.74438906e+01] [ 1.19673522e-01 -3.97960056e-04 9.92813220e-01 2.21370970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.45, Y:27.46, Z:22.12 [[ 8.98643896e-01 -4.24939155e-01 -1.08930535e-01 2.30453272e+02] [ 4.22041831e-01 9.05220772e-01 -4.95585065e-02 2.74645837e+01] [ 1.19665533e-01 -1.43779329e-03 9.92813222e-01 2.21200177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04863999999998 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:230.51, Y:27.48, Z:22.15 [[ 8.98028610e-01 -4.26238326e-01 -1.08928897e-01 2.30508126e+02] [ 4.23350080e-01 9.04609478e-01 -4.95621073e-02 2.74821191e+01] [ 1.19663382e-01 -1.60686693e-03 9.92813222e-01 2.21481015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:230.56, Y:27.50, Z:22.15 [[ 8.96889903e-01 -4.28629596e-01 -1.08927370e-01 2.30563649e+02] [ 4.25758487e-01 9.03478265e-01 -4.95654632e-02 2.74996625e+01] [ 1.19658736e-01 -1.92198885e-03 9.92813222e-01 2.21542807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:230.62, Y:27.52, Z:22.14 [[ 8.96065949e-01 -4.30356141e-01 -1.08900903e-01 2.30624364e+02] [ 4.27490669e-01 9.02656763e-01 -4.96235467e-02 2.75176115e+01] [ 1.19655935e-01 -2.08814936e-03 9.92813224e-01 2.21385734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:230.68, Y:27.53, Z:22.15 [[ 8.96286262e-01 -4.29897527e-01 -1.08899274e-01 2.30681961e+02] [ 4.27028249e-01 9.02875420e-01 -4.96271218e-02 2.75320523e+01] [ 1.19657054e-01 -2.02295871e-03 9.92813224e-01 2.21461859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:230.74, Y:27.55, Z:22.15 [[ 8.98360201e-01 -4.25552393e-01 -1.08876581e-01 2.30739358e+02] [ 4.22645213e-01 9.04932723e-01 -4.96768590e-02 2.75478417e+01] [ 1.19666087e-01 -1.38845252e-03 9.92813225e-01 2.21525544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34864 meters Centerline goodness : 0.998431 with order 1 Centerline is valid? [True, True] Translation: X:230.79, Y:27.56, Z:22.18 [[ 9.03138432e-01 -4.15321394e-01 -1.08853628e-01 2.30794592e+02] [ 4.12333695e-01 9.09674744e-01 -4.97271038e-02 2.75627604e+01] [ 1.19674126e-01 2.64400867e-05 9.92813227e-01 2.21838685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40863999999996 meters Centerline goodness : 0.998627 with order 1 Centerline is valid? [True, True] Translation: X:230.85, Y:27.58, Z:22.19 [[ 9.06483423e-01 -4.07969428e-01 -1.08851963e-01 2.30851106e+02] [ 4.04928281e-01 9.12995038e-01 -4.97307464e-02 2.75799368e+01] [ 1.19669927e-01 1.00285875e-03 9.92813227e-01 2.21888902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46863999999997 meters Centerline goodness : 0.997694 with order 1 Centerline is valid? [True, True] Translation: X:230.91, Y:27.60, Z:22.20 [[ 9.09175127e-01 -4.01941668e-01 -1.08827775e-01 2.30905287e+02] [ 3.98851025e-01 9.15663394e-01 -4.97836239e-02 2.76025472e+01] [ 1.19659722e-01 1.85596312e-03 9.92813228e-01 2.21965912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52863999999997 meters Centerline goodness : 0.997941 with order 1 Centerline is valid? [True, True] Translation: X:230.96, Y:27.63, Z:22.20 [[ 9.13044881e-01 -3.93078574e-01 -1.08803865e-01 2.30959570e+02] [ 3.89918745e-01 9.19499735e-01 -4.98358254e-02 2.76258593e+01] [ 1.19634520e-01 3.07767886e-03 9.92813230e-01 2.21990367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58863999999997 meters Centerline goodness : 0.933772 with order 3 Centerline is valid? [True, False] Translation: X:230.98, Y:27.62, Z:22.20 [[ 9.24112677e-01 -3.64286497e-01 -1.15373779e-01 2.30979968e+02] [ 3.63334683e-01 9.31177760e-01 -2.99313909e-02 2.76235031e+01] [ 1.18337099e-01 -1.42593176e-02 9.92871091e-01 2.22038925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64863999999997 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [False, True] Translation: X:231.00, Y:27.63, Z:22.21 [[ 9.32654807e-01 -3.39668246e-01 -1.21575052e-01 2.31000374e+02] [ 3.40299293e-01 9.40177996e-01 -1.61779818e-02 2.76276084e+01] [ 1.19797336e-01 -2.62834318e-02 9.92450392e-01 2.22093387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70863999999997 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:231.04, Y:27.68, Z:22.22 [[ 9.33171506e-01 -3.42141147e-01 -1.10137981e-01 2.31042158e+02] [ 3.39250658e-01 9.39639014e-01 -4.45815589e-02 2.76781587e+01] [ 1.18743129e-01 4.23785818e-03 9.92915963e-01 2.22164560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76863999999998 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:231.09, Y:27.71, Z:22.22 [[ 9.33288518e-01 -3.41829156e-01 -1.10115256e-01 2.31092702e+02] [ 3.38929900e-01 9.39752098e-01 -4.46376170e-02 2.77078813e+01] [ 1.18739482e-01 4.33842259e-03 9.92915965e-01 2.22238517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82863999999998 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:231.14, Y:27.74, Z:22.23 [[ 9.32450104e-01 -3.44116069e-01 -1.10095119e-01 2.31144001e+02] [ 3.41226817e-01 9.38918160e-01 -4.46872298e-02 2.77369164e+01] [ 1.18747900e-01 4.10120510e-03 9.92915966e-01 2.22302458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88863999999998 meters Centerline goodness : 0.997542 with order 1 Centerline is valid? [True, True] Translation: X:231.19, Y:27.76, Z:22.26 [[ 9.30829904e-01 -3.48481192e-01 -1.10075195e-01 2.31193660e+02] [ 3.45616485e-01 9.37308867e-01 -4.47362550e-02 2.77618125e+01] [ 1.18764199e-01 3.59804211e-03 9.92915968e-01 2.22583037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94863999999998 meters Centerline goodness : 0.998332 with order 1 Centerline is valid? [True, True] Translation: X:231.25, Y:27.79, Z:22.24 [[ 9.28540684e-01 -3.54538083e-01 -1.10067912e-01 2.31249326e+02] [ 3.51713525e-01 9.35037251e-01 -4.47541649e-02 2.77881002e+01] [ 1.18784654e-01 2.84368954e-03 9.92915968e-01 2.22442469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00863999999999 meters Centerline goodness : 0.998482 with order 1 Centerline is valid? [True, True] Translation: X:231.30, Y:27.81, Z:22.25 [[ 9.26213615e-01 -3.60579558e-01 -1.10048723e-01 2.31301938e+02] [ 3.57791783e-01 9.32726050e-01 -4.48013004e-02 2.78119655e+01] [ 1.18799744e-01 2.12104550e-03 9.92915969e-01 2.22508396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06864 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:231.36, Y:27.83, Z:22.26 [[ 9.23076982e-01 -3.68542303e-01 -1.10024799e-01 2.31355910e+02] [ 3.65803720e-01 9.29610252e-01 -4.48599774e-02 2.78327949e+01] [ 1.18812981e-01 1.16173156e-03 9.92915971e-01 2.22579625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12863999999996 meters Centerline goodness : 0.998579 with order 1 Centerline is valid? [True, True] Translation: X:231.41, Y:27.85, Z:22.27 [[ 9.21720802e-01 -3.71928376e-01 -1.10000210e-01 2.31410511e+02] [ 3.69206607e-01 9.28261093e-01 -4.49201915e-02 2.78529374e+01] [ 1.18816009e-01 7.91070407e-04 9.92915973e-01 2.22650105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18863999999996 meters Centerline goodness : 0.998628 with order 1 Centerline is valid? [True, True] Translation: X:231.46, Y:27.88, Z:22.27 [[ 9.20947315e-01 -3.73845875e-01 -1.09978654e-01 2.31463847e+02] [ 3.71131429e-01 9.27490647e-01 -4.49729059e-02 2.78776601e+01] [ 1.18817109e-01 6.01141736e-04 9.92915975e-01 2.22721645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24863999999997 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:231.52, Y:27.90, Z:22.28 [[ 9.20203758e-01 -3.75678669e-01 -1.09957176e-01 2.31515545e+02] [ 3.72970987e-01 9.26749891e-01 -4.50253600e-02 2.79021478e+01] [ 1.18817868e-01 4.21669158e-04 9.92915977e-01 2.22796540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30863999999997 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:231.57, Y:27.93, Z:22.28 [[ 9.19025803e-01 -3.78558281e-01 -1.09932716e-01 2.31568946e+02] [ 3.75863975e-01 9.25577450e-01 -4.50850029e-02 2.79252452e+01] [ 1.18818544e-01 1.14533552e-04 9.92915979e-01 2.22845448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36863999999997 meters Centerline goodness : 0.998479 with order 1 Centerline is valid? [True, True] Translation: X:231.62, Y:27.95, Z:22.29 [[ 9.17406577e-01 -3.82472681e-01 -1.09908235e-01 2.31622943e+02] [ 3.79799188e-01 9.23966742e-01 -4.51446044e-02 2.79455652e+01] [ 1.18818131e-01 -3.27101264e-04 9.92915981e-01 2.22914259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42863999999997 meters Centerline goodness : 0.998481 with order 1 Centerline is valid? [True, True] Translation: X:231.68, Y:27.97, Z:22.30 [[ 9.16400667e-01 -3.84883609e-01 -1.09883693e-01 2.31676377e+02] [ 3.82220220e-01 9.22964939e-01 -4.52042620e-02 2.79688872e+01] [ 1.18817175e-01 -5.74553461e-04 9.92915983e-01 2.22993593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48863999999998 meters Centerline goodness : 0.993228 with order 1 Centerline is valid? [True, True] Translation: X:231.73, Y:27.99, Z:22.34 [[ 9.17911428e-01 -3.81272657e-01 -1.09862515e-01 2.31727625e+02] [ 3.78577291e-01 9.24462632e-01 -4.52556738e-02 2.79892433e+01] [ 1.18818541e-01 -5.07531984e-05 9.92915984e-01 2.23403693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54863999999998 meters Centerline goodness : 0.997595 with order 1 Centerline is valid? [True, True] Translation: X:231.78, Y:28.01, Z:22.34 [[ 9.19066711e-01 -3.78480090e-01 -1.09859919e-01 2.31784187e+02] [ 3.75764065e-01 9.25609378e-01 -4.52619754e-02 2.80130243e+01] [ 1.18818128e-01 3.17365271e-04 9.92915984e-01 2.23356872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60863999999998 meters Centerline goodness : 0.998478 with order 1 Centerline is valid? [True, True] Translation: X:231.84, Y:28.04, Z:22.34 [[ 9.21969777e-01 -3.71352256e-01 -1.09860058e-01 2.31836930e+02] [ 3.68585692e-01 9.28491234e-01 -4.52616373e-02 2.80392516e+01] [ 1.18812112e-01 1.23701618e-03 9.92915984e-01 2.23415975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66863999999998 meters Centerline goodness : 0.932105 with order 3 Centerline is valid? [True, False] Translation: X:231.81, Y:28.05, Z:22.34 [[ 9.27593930e-01 -3.59177540e-01 -1.02766709e-01 2.31814781e+02] [ 3.54964861e-01 9.33119692e-01 -5.73374901e-02 2.80488085e+01] [ 1.16487978e-01 1.67073372e-02 9.93051568e-01 2.23401711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72863999999998 meters Centerline goodness : 0.937838 with order 3 Centerline is valid? [False, False] Translation: X:231.81, Y:28.06, Z:22.34 [[ 9.32725583e-01 -3.45505975e-01 -1.03192095e-01 2.31810880e+02] [ 3.40474116e-01 9.38107189e-01 -6.35002157e-02 2.80589457e+01] [ 1.18744950e-01 2.40940383e-02 9.92632416e-01 2.23415942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78864 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [False, True] Translation: X:231.81, Y:28.07, Z:22.34 [[ 9.37837239e-01 -3.31282733e-01 -1.03503932e-01 2.31806868e+02] [ 3.25535296e-01 9.43030809e-01 -6.86998133e-02 2.80673322e+01] [ 1.20366459e-01 3.07350602e-02 9.92253633e-01 2.23435384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.87, Y:28.08, Z:22.33 [[ 9.36198133e-01 -3.32665305e-01 -1.13432144e-01 2.31869125e+02] [ 3.29999818e-01 9.43042930e-01 -4.20731811e-02 2.80750528e+01] [ 1.20967669e-01 1.95624688e-03 9.92654520e-01 2.23275878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90863999999996 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:231.92, Y:28.10, Z:22.35 [[ 9.34772627e-01 -3.36656814e-01 -1.13412188e-01 2.31919759e+02] [ 3.34014039e-01 9.41626224e-01 -4.21269041e-02 2.81023603e+01] [ 1.20974200e-01 1.49781374e-03 9.92654522e-01 2.23515357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:231.98, Y:28.13, Z:22.34 [[ 9.32379388e-01 -3.43230247e-01 -1.13409325e-01 2.31975167e+02] [ 3.40634856e-01 9.39251069e-01 -4.21346106e-02 2.81279901e+01] [ 1.20981703e-01 6.54273372e-04 9.92654522e-01 2.23427492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02863999999997 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:232.03, Y:28.15, Z:22.37 [[ 9.31459029e-01 -3.45726312e-01 -1.13390452e-01 2.32028023e+02] [ 3.43143159e-01 9.38335318e-01 -4.21853419e-02 2.81492700e+01] [ 1.20982848e-01 3.84759852e-04 9.92654523e-01 2.23695773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:232.08, Y:28.17, Z:22.37 [[ 9.29302618e-01 -3.51482424e-01 -1.13387609e-01 2.32082751e+02] [ 3.48940931e-01 9.36194413e-01 -4.21929804e-02 2.81704685e+01] [ 1.20982937e-01 -3.55530682e-04 9.92654523e-01 2.23744824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:232.14, Y:28.19, Z:22.38 [[ 9.28065265e-01 -3.54743115e-01 -1.13367485e-01 2.32138346e+02] [ 3.52219238e-01 9.34963529e-01 -4.22469823e-02 2.81895609e+01] [ 1.20981290e-01 -7.22252546e-04 9.92654525e-01 2.23807516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20863999999997 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:232.19, Y:28.21, Z:22.39 [[ 9.27593263e-01 -3.55981830e-01 -1.13347584e-01 2.32194538e+02] [ 3.53460649e-01 9.34492511e-01 -4.23003093e-02 2.82078105e+01] [ 1.20980610e-01 -8.26428711e-04 9.92654526e-01 2.23867262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26863999999998 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:232.25, Y:28.23, Z:22.40 [[ 9.28442258e-01 -3.53767501e-01 -1.13329297e-01 2.32249381e+02] [ 3.51223891e-01 9.35333267e-01 -4.23492486e-02 2.82274555e+01] [ 1.20982449e-01 -4.85124512e-04 9.92654528e-01 2.23965548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32863999999998 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:232.30, Y:28.25, Z:22.40 [[ 9.28795964e-01 -3.52844242e-01 -1.13309305e-01 2.32303225e+02] [ 3.50287264e-01 9.35682022e-01 -4.24026713e-02 2.82470974e+01] [ 1.20983018e-01 -3.07376444e-04 9.92654529e-01 2.24015603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:232.36, Y:28.27, Z:22.39 [[ 9.28390119e-01 -3.53918138e-01 -1.13286092e-01 2.32360825e+02] [ 3.51361567e-01 9.35276326e-01 -4.24645985e-02 2.82670025e+01] [ 1.20982792e-01 -3.80665321e-04 9.92654532e-01 2.23900446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:232.42, Y:28.29, Z:22.40 [[ 9.27669281e-01 -3.55805095e-01 -1.13280354e-01 2.32416263e+02] [ 3.53260663e-01 9.34559983e-01 -4.24799014e-02 2.82863577e+01] [ 1.20981851e-01 -6.10193282e-04 9.92654532e-01 2.23970779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50863999999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:232.47, Y:28.31, Z:22.40 [[ 9.26738798e-01 -3.58227935e-01 -1.13260528e-01 2.32471599e+02] [ 3.55695065e-01 9.33633756e-01 -4.25326949e-02 2.83055421e+01] [ 1.20980252e-01 -8.69512492e-04 9.92654533e-01 2.24044294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:232.53, Y:28.32, Z:22.43 [[ 9.27294544e-01 -3.56793156e-01 -1.13240770e-01 2.32525950e+02] [ 3.54243201e-01 9.34183201e-01 -4.25852358e-02 2.83234300e+01] [ 1.20981746e-01 -6.25716053e-04 9.92654535e-01 2.24290381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62863999999996 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:232.58, Y:28.34, Z:22.43 [[ 9.27023697e-01 -3.57497174e-01 -1.13237958e-01 2.32582183e+02] [ 3.54951537e-01 9.33913951e-01 -4.25927115e-02 2.83413826e+01] [ 1.20981283e-01 -7.09534477e-04 9.92654535e-01 2.24348364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68863999999996 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:232.64, Y:28.36, Z:22.42 [[ 9.26258459e-01 -3.59481548e-01 -1.13217860e-01 2.32639810e+02] [ 3.56944151e-01 9.33151749e-01 -4.26460685e-02 2.83621926e+01] [ 1.20979919e-01 -9.11171295e-04 9.92654537e-01 2.24246068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74863999999997 meters Centerline goodness : 0.998380 with order 1 Centerline is valid? [True, True] Translation: X:232.69, Y:28.38, Z:22.45 [[ 9.26959638e-01 -3.57670507e-01 -1.13215004e-01 2.32694280e+02] [ 3.55118716e-01 9.33847613e-01 -4.26536507e-02 2.83797925e+01] [ 1.20981514e-01 -6.66554116e-04 9.92654537e-01 2.24494790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80863999999997 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:232.75, Y:28.40, Z:22.46 [[ 9.26244760e-01 -3.59518631e-01 -1.13212180e-01 2.32750014e+02] [ 3.56979667e-01 9.33137473e-01 -4.26611434e-02 2.83961506e+01] [ 1.20980004e-01 -8.99785854e-04 9.92654537e-01 2.24606453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86863999999997 meters Centerline goodness : 0.998038 with order 1 Centerline is valid? [True, True] Translation: X:232.81, Y:28.42, Z:22.46 [[ 9.27969298e-01 -3.55050046e-01 -1.13192085e-01 2.32805211e+02] [ 3.52471392e-01 9.34847259e-01 -4.27143973e-02 2.84162004e+01] [ 1.20983059e-01 -2.59322341e-04 9.92654538e-01 2.24646419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:232.86, Y:28.44, Z:22.45 [[ 9.29598072e-01 -3.50769856e-01 -1.13172133e-01 2.32861051e+02] [ 3.48153106e-01 9.36461629e-01 -4.27671937e-02 2.84389486e+01] [ 1.20982803e-01 3.55071173e-04 9.92654540e-01 2.24534345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98863999999998 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:232.91, Y:28.46, Z:22.48 [[ 9.31891283e-01 -3.44637935e-01 -1.13151806e-01 2.32913262e+02] [ 3.41969502e-01 9.38734909e-01 -4.28209084e-02 2.84615311e+01] [ 1.20977260e-01 1.20996457e-03 9.92654541e-01 2.24785516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:232.97, Y:28.49, Z:22.47 [[ 9.32968531e-01 -3.41711923e-01 -1.13148935e-01 2.32968945e+02] [ 3.39021108e-01 9.39803388e-01 -4.28284935e-02 2.84871308e+01] [ 1.20972759e-01 1.59775946e-03 9.92654541e-01 2.24701637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10863999999998 meters Centerline goodness : 0.998133 with order 1 Centerline is valid? [True, True] Translation: X:233.02, Y:28.51, Z:22.50 [[ 9.32797518e-01 -3.42179445e-01 -1.13146004e-01 2.33020344e+02] [ 3.39491116e-01 9.39633354e-01 -4.28362359e-02 2.85117773e+01] [ 1.20973438e-01 1.54547153e-03 9.92654542e-01 2.24957434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16863999999998 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:233.08, Y:28.54, Z:22.48 [[ 9.33694435e-01 -3.39725383e-01 -1.13143125e-01 2.33075460e+02] [ 3.37018167e-01 9.40522812e-01 -4.28438385e-02 2.85382161e+01] [ 1.20968829e-01 1.87176514e-03 9.92654542e-01 2.24829076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22863999999998 meters Centerline goodness : 0.998185 with order 1 Centerline is valid? [True, True] Translation: X:233.13, Y:28.56, Z:22.51 [[ 9.33039838e-01 -3.41521017e-01 -1.13137330e-01 2.33128344e+02] [ 3.38825088e-01 9.39872680e-01 -4.28591342e-02 2.85629336e+01] [ 1.20971981e-01 1.65551369e-03 9.92654542e-01 2.25063929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28864 meters Centerline goodness : 0.997154 with order 1 Centerline is valid? [True, True] Translation: X:233.18, Y:28.59, Z:22.52 [[ 9.32687053e-01 -3.42483292e-01 -1.13137330e-01 2.33181852e+02] [ 3.39794412e-01 9.39522672e-01 -4.28591342e-02 2.85867107e+01] [ 1.20973624e-01 1.53072687e-03 9.92654542e-01 2.25170585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34864 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:233.24, Y:28.61, Z:22.51 [[ 9.32343928e-01 -3.43422584e-01 -1.13118208e-01 2.33238106e+02] [ 3.40734476e-01 9.39179849e-01 -4.29095454e-02 2.86097583e+01] [ 1.20974448e-01 1.46318088e-03 9.92654543e-01 2.25065961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40863999999996 meters Centerline goodness : 0.997353 with order 1 Centerline is valid? [True, True] Translation: X:233.29, Y:28.63, Z:22.53 [[ 9.31526883e-01 -3.45639354e-01 -1.13097760e-01 2.33291162e+02] [ 3.42960978e-01 9.38366621e-01 -4.29633728e-02 2.86286995e+01] [ 1.20976995e-01 1.23341831e-03 9.92654545e-01 2.25311726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46863999999997 meters Centerline goodness : 0.996911 with order 1 Centerline is valid? [True, True] Translation: X:233.35, Y:28.65, Z:22.54 [[ 9.31204137e-01 -3.46514572e-01 -1.13077436e-01 2.33346005e+02] [ 3.43836138e-01 9.38043850e-01 -4.30168001e-02 2.86481002e+01] [ 1.20977541e-01 1.17731345e-03 9.92654546e-01 2.25402424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52863999999997 meters Centerline goodness : 0.998137 with order 1 Centerline is valid? [True, True] Translation: X:233.40, Y:28.67, Z:22.55 [[ 9.29966575e-01 -3.49829034e-01 -1.13056696e-01 2.33401997e+02] [ 3.47168360e-01 9.36813214e-01 -4.30712390e-02 2.86654419e+01] [ 1.20980577e-01 8.05104832e-04 9.92654548e-01 2.25473943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58863999999997 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:233.46, Y:28.68, Z:22.54 [[ 9.27837714e-01 -3.55443472e-01 -1.13035903e-01 2.33460153e+02] [ 3.52817588e-01 9.34697770e-01 -4.31257395e-02 2.86843090e+01] [ 1.20983169e-01 1.32632855e-04 9.92654550e-01 2.25362296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:233.52, Y:28.70, Z:22.54 [[ 9.25630738e-01 -3.61157774e-01 -1.13016811e-01 2.33517222e+02] [ 3.58568137e-01 9.32504557e-01 -4.31757158e-02 2.86978764e+01] [ 1.20981937e-01 -5.59457675e-04 9.92654551e-01 2.25423633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70863999999997 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:233.57, Y:28.71, Z:22.55 [[ 9.22810650e-01 -3.68310026e-01 -1.12996593e-01 2.33574188e+02] [ 3.65767188e-01 9.29701917e-01 -4.32285639e-02 2.87097121e+01] [ 1.20974663e-01 -1.43866717e-03 9.92654553e-01 2.25500809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76863999999998 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:233.63, Y:28.72, Z:22.56 [[ 9.21063176e-01 -3.72665464e-01 -1.12973790e-01 2.33631241e+02] [ 3.70147913e-01 9.27963720e-01 -4.32880770e-02 2.87229348e+01] [ 1.20967550e-01 -1.94595891e-03 9.92654555e-01 2.25571238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82863999999998 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:233.69, Y:28.73, Z:22.57 [[ 9.19754089e-01 -3.75891586e-01 -1.12951012e-01 2.33688809e+02] [ 3.73390950e-01 9.26660779e-01 -4.33474299e-02 2.87333383e+01] [ 1.20961207e-01 -2.30590994e-03 9.92654557e-01 2.25678814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88863999999998 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.75, Y:28.74, Z:22.57 [[ 9.19480176e-01 -3.76567859e-01 -1.12928530e-01 2.33747256e+02] [ 3.74065121e-01 9.26386102e-01 -4.34059235e-02 2.87448944e+01] [ 1.20960696e-01 -2.33173792e-03 9.92654559e-01 2.25738279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:233.80, Y:28.76, Z:22.58 [[ 9.19913767e-01 -3.75513328e-01 -1.12908821e-01 2.33804324e+02] [ 3.72996391e-01 9.26814528e-01 -4.34571308e-02 2.87590627e+01] [ 1.20964267e-01 -2.13776976e-03 9.92654560e-01 2.25819224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00863999999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:233.86, Y:28.78, Z:22.59 [[ 9.21057317e-01 -3.72705625e-01 -1.12889040e-01 2.33859139e+02] [ 3.70161360e-01 9.27948049e-01 -4.35084553e-02 2.87761623e+01] [ 1.20971011e-01 -1.71337959e-03 9.92654562e-01 2.25896174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:233.91, Y:28.80, Z:22.60 [[ 9.23096610e-01 -3.67632754e-01 -1.12866318e-01 2.33913895e+02] [ 3.65043421e-01 9.29970531e-01 -4.35673216e-02 2.87969927e+01] [ 1.20979124e-01 -9.84259812e-04 9.92654564e-01 2.25978259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12863999999996 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:233.97, Y:28.82, Z:22.63 [[ 9.24472136e-01 -3.64166214e-01 -1.12846079e-01 2.33965442e+02] [ 3.61544713e-01 9.31333852e-01 -4.36196794e-02 2.88173724e+01] [ 1.20982187e-01 -4.73725188e-04 9.92654565e-01 2.26289893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.02, Y:28.84, Z:22.61 [[ 9.24143147e-01 -3.65006155e-01 -1.12827086e-01 2.34022902e+02] [ 3.62384899e-01 9.31004954e-01 -4.36687536e-02 2.88382831e+01] [ 1.20981940e-01 -5.30652739e-04 9.92654567e-01 2.26108509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24863999999997 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:234.07, Y:28.86, Z:22.64 [[ 9.25167218e-01 -3.62409209e-01 -1.12805959e-01 2.34073863e+02] [ 3.59762045e-01 9.32019070e-01 -4.37232621e-02 2.88581615e+01] [ 1.20983018e-01 -1.31973603e-04 9.92654568e-01 2.26422073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:234.13, Y:28.88, Z:22.65 [[ 9.25225233e-01 -3.62268459e-01 -1.12782231e-01 2.34128079e+02] [ 3.59612801e-01 9.32073796e-01 -4.37843808e-02 2.88802056e+01] [ 1.20983063e-01 -4.75201030e-05 9.92654570e-01 2.26518095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36863999999997 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:234.18, Y:28.90, Z:22.66 [[ 9.25619612e-01 -3.61262946e-01 -1.12771532e-01 2.34184300e+02] [ 3.58596493e-01 9.32463978e-01 -4.38119200e-02 2.88977672e+01] [ 1.20983015e-01 1.13696395e-04 9.92654571e-01 2.26580220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42863999999997 meters Centerline goodness : 0.999459 with order 1 Centerline is valid? [True, True] Translation: X:234.24, Y:28.92, Z:22.66 [[ 9.24915494e-01 -3.63068512e-01 -1.12750102e-01 2.34239271e+02] [ 3.60408704e-01 9.31762444e-01 -4.38670021e-02 2.89170632e+01] [ 1.20983038e-01 -6.28483533e-05 9.92654573e-01 2.26648117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48863999999998 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:234.29, Y:28.94, Z:22.67 [[ 9.25363764e-01 -3.61931155e-01 -1.12728626e-01 2.34293716e+02] [ 3.59256217e-01 9.32204815e-01 -4.39221219e-02 2.89372691e+01] [ 1.20982952e-01 1.45480231e-04 9.92654574e-01 2.26711660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54863999999998 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:234.35, Y:28.96, Z:22.66 [[ 9.26576893e-01 -3.58820855e-01 -1.12706941e-01 2.34348453e+02] [ 3.56116193e-01 9.33406246e-01 -4.39776970e-02 2.89629124e+01] [ 1.20981478e-01 6.11951010e-04 9.92654576e-01 2.26585749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60863999999998 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:234.40, Y:28.99, Z:22.69 [[ 9.28821351e-01 -3.52972768e-01 -1.12699261e-01 2.34399614e+02] [ 3.50222722e-01 9.35632554e-01 -4.39973698e-02 2.89851990e+01] [ 1.20974971e-01 1.39585447e-03 9.92654576e-01 2.26870056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66863999999998 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:234.45, Y:29.01, Z:22.69 [[ 9.29322662e-01 -3.51657514e-01 -1.12678224e-01 2.34453488e+02] [ 3.48891304e-01 9.36127316e-01 -4.40511821e-02 2.90083322e+01] [ 1.20972092e-01 1.62530944e-03 9.92654578e-01 2.26932664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72863999999998 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:234.51, Y:29.03, Z:22.70 [[ 9.28205020e-01 -3.54603863e-01 -1.12656743e-01 2.34506717e+02] [ 3.51852595e-01 9.35015726e-01 -4.41060494e-02 2.90313468e+01] [ 1.20976002e-01 1.30088915e-03 9.92654580e-01 2.26999212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:234.56, Y:29.05, Z:22.71 [[ 9.26700113e-01 -3.58526041e-01 -1.12632046e-01 2.34560504e+02] [ 3.55795945e-01 9.33519332e-01 -4.41690279e-02 2.90524620e+01] [ 1.20979939e-01 8.57417963e-04 9.92654582e-01 2.27085091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.62, Y:29.07, Z:22.69 [[ 9.24733682e-01 -3.63574603e-01 -1.12610508e-01 2.34616498e+02] [ 3.60875057e-01 9.31565050e-01 -4.42238727e-02 2.90735557e+01] [ 1.20982690e-01 2.56981143e-04 9.92654584e-01 2.26946714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:234.67, Y:29.09, Z:22.70 [[ 9.24035462e-01 -3.65353077e-01 -1.12585941e-01 2.34672340e+02] [ 3.62659069e-01 9.30869014e-01 -4.42863289e-02 2.90915866e+01] [ 1.20982910e-01 9.18259075e-05 9.92654586e-01 2.27034027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96863999999997 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:234.73, Y:29.11, Z:22.73 [[ 9.23898900e-01 -3.65704752e-01 -1.12564901e-01 2.34725214e+02] [ 3.63006837e-01 9.30730908e-01 -4.43397422e-02 2.91097916e+01] [ 1.20982887e-01 1.03610368e-04 9.92654588e-01 2.27278114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:234.78, Y:29.12, Z:22.74 [[ 9.22914204e-01 -3.68189197e-01 -1.12543709e-01 2.34780694e+02] [ 3.65503121e-01 9.29750874e-01 -4.43934673e-02 2.91247789e+01] [ 1.20982807e-01 -1.63715388e-04 9.92654589e-01 2.27363967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:234.84, Y:29.14, Z:22.74 [[ 9.22192848e-01 -3.69999739e-01 -1.12519089e-01 2.34836636e+02] [ 3.67319481e-01 9.29031798e-01 -4.44557825e-02 2.91419566e+01] [ 1.20982439e-01 -3.33648747e-04 9.92654592e-01 2.27407905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:234.89, Y:29.16, Z:22.75 [[ 9.21872817e-01 -3.70798703e-01 -1.12511466e-01 2.34892562e+02] [ 3.68122020e-01 9.28713167e-01 -4.44750661e-02 2.91590138e+01] [ 1.20982177e-01 -4.17593736e-04 9.92654592e-01 2.27470525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:234.95, Y:29.18, Z:22.75 [[ 9.22130537e-01 -3.70163869e-01 -1.12489922e-01 2.34948447e+02] [ 3.67475836e-01 9.28966433e-01 -4.45294925e-02 2.91777675e+01] [ 1.20982571e-01 -2.75323177e-04 9.92654593e-01 2.27545581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26863999999995 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:235.00, Y:29.20, Z:22.76 [[ 9.21821183e-01 -3.70939682e-01 -1.12469809e-01 2.35004015e+02] [ 3.68251211e-01 9.28656906e-01 -4.45802336e-02 2.91962838e+01] [ 1.20982443e-01 -3.22139729e-04 9.92654595e-01 2.27624645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32863999999995 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:235.06, Y:29.21, Z:22.77 [[ 9.21704273e-01 -3.71236608e-01 -1.12448270e-01 2.35060045e+02] [ 3.68543718e-01 9.28538254e-01 -4.46344977e-02 2.92148050e+01] [ 1.20982480e-01 -3.02296354e-04 9.92654597e-01 2.27678652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38863999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:235.12, Y:29.23, Z:22.77 [[ 9.22336897e-01 -3.69668642e-01 -1.12426610e-01 2.35115152e+02] [ 3.66957491e-01 9.29163653e-01 -4.46889891e-02 2.92346762e+01] [ 1.20982838e-01 -3.74834080e-05 9.92654598e-01 2.27748074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44863999999995 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:235.17, Y:29.26, Z:22.78 [[ 9.22798054e-01 -3.68522592e-01 -1.12404848e-01 2.35168620e+02] [ 3.65796303e-01 9.29618776e-01 -4.47436609e-02 2.92568344e+01] [ 1.20982707e-01 1.72085382e-04 9.92654600e-01 2.27839158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.22, Y:29.28, Z:22.77 [[ 9.25195176e-01 -3.62469174e-01 -1.12383202e-01 2.35224347e+02] [ 3.59691663e-01 9.31995199e-01 -4.47979652e-02 2.92804038e+01] [ 1.20978486e-01 1.02356060e-03 9.92654602e-01 2.27711731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56863999999996 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:235.27, Y:29.31, Z:22.80 [[ 9.29070071e-01 -3.52425468e-01 -1.12361434e-01 2.35273448e+02] [ 3.49567864e-01 9.35836825e-01 -4.48524960e-02 2.93075735e+01] [ 1.20959130e-01 2.39316505e-03 9.92654603e-01 2.27993743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.33, Y:29.33, Z:22.78 [[ 9.29012912e-01 -3.52582977e-01 -1.12339905e-01 2.35328523e+02] [ 3.49720009e-01 9.35777396e-01 -4.49063563e-02 2.93348325e+01] [ 1.20958360e-01 2.43107237e-03 9.92654605e-01 2.27837397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.38, Y:29.36, Z:22.79 [[ 9.28655872e-01 -3.53529069e-01 -1.12318608e-01 2.35381919e+02] [ 3.50666560e-01 9.35420548e-01 -4.49595613e-02 2.93596084e+01] [ 1.20959645e-01 2.36558077e-03 9.92654607e-01 2.27913560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74863999999997 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:235.43, Y:29.38, Z:22.82 [[ 9.26268316e-01 -3.59744725e-01 -1.12297547e-01 2.35432559e+02] [ 3.56921246e-01 9.33049374e-01 -4.50121044e-02 2.93838959e+01] [ 1.20972023e-01 1.61190578e-03 9.92654608e-01 2.28248625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:235.49, Y:29.41, Z:22.81 [[ 9.26888314e-01 -3.58144707e-01 -1.12296134e-01 2.35490654e+02] [ 3.55309096e-01 9.33664308e-01 -4.50156289e-02 2.94085286e+01] [ 1.20969002e-01 1.82462247e-03 9.92654608e-01 2.28056830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86863999999997 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:235.54, Y:29.43, Z:22.83 [[ 9.27418742e-01 -3.56769207e-01 -1.12295194e-01 2.35541925e+02] [ 3.53923262e-01 9.34190402e-01 -4.50179734e-02 2.94304265e+01] [ 1.20966119e-01 2.00663078e-03 9.92654608e-01 2.28305654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92864 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:235.59, Y:29.45, Z:22.84 [[ 9.27156052e-01 -3.57453729e-01 -1.12287516e-01 2.35594450e+02] [ 3.54610466e-01 9.33928839e-01 -4.50371182e-02 2.94544172e+01] [ 1.20967235e-01 1.93810846e-03 9.92654609e-01 2.28405815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98864 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:235.65, Y:29.48, Z:22.84 [[ 9.26641623e-01 -3.58791884e-01 -1.12266139e-01 2.35648196e+02] [ 3.55951955e-01 9.33415806e-01 -4.50903434e-02 2.94793130e+01] [ 1.20969037e-01 1.82123752e-03 9.92654610e-01 2.28435732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:235.70, Y:29.51, Z:22.84 [[ 9.25535460e-01 -3.61642506e-01 -1.12244420e-01 2.35702608e+02] [ 3.58816893e-01 9.32315625e-01 -4.51443446e-02 2.95050924e+01] [ 1.20973340e-01 1.50749781e-03 9.92654612e-01 2.28355561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:235.75, Y:29.53, Z:22.84 [[ 9.25120397e-01 -3.62709654e-01 -1.12222806e-01 2.35754345e+02] [ 3.59885353e-01 9.31901107e-01 -4.51980094e-02 2.95311024e+01] [ 1.20974312e-01 1.42625620e-03 9.92654614e-01 2.28429119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:235.81, Y:29.56, Z:22.85 [[ 9.24758424e-01 -3.63639160e-01 -1.12198118e-01 2.35806052e+02] [ 3.60814250e-01 9.31538878e-01 -4.52592122e-02 2.95558874e+01] [ 1.20974931e-01 1.37115800e-03 9.92654616e-01 2.28496991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:235.86, Y:29.58, Z:22.86 [[ 9.24909402e-01 -3.63262581e-01 -1.12173507e-01 2.35857438e+02] [ 3.60427522e-01 9.31685616e-01 -4.53201290e-02 2.95834529e+01] [ 1.20973550e-01 1.48659425e-03 9.92654618e-01 2.28584952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:235.91, Y:29.61, Z:22.86 [[ 9.24335694e-01 -3.64726525e-01 -1.12152069e-01 2.35909213e+02] [ 3.61895769e-01 9.31113705e-01 -4.53731191e-02 2.96091430e+01] [ 1.20975109e-01 1.35263420e-03 9.92654619e-01 2.28640538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34864 meters Centerline goodness : 0.998283 with order 1 Centerline is valid? [True, True] Translation: X:235.96, Y:29.63, Z:22.89 [[ 9.22886121e-01 -3.68386629e-01 -1.12127156e-01 2.35960715e+02] [ 3.65575285e-01 9.29672205e-01 -4.54346011e-02 2.96318685e+01] [ 1.20979000e-01 9.40045590e-04 9.92654622e-01 2.28903682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:236.02, Y:29.66, Z:22.88 [[ 9.19896252e-01 -3.75796961e-01 -1.12104992e-01 2.36016799e+02] [ 3.73033627e-01 9.26702025e-01 -4.54892234e-02 2.96559315e+01] [ 1.20982635e-01 2.64342175e-05 9.92654623e-01 2.28785097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46864 meters Centerline goodness : 0.998578 with order 1 Centerline is valid? [True, True] Translation: X:236.07, Y:29.68, Z:22.90 [[ 9.18997921e-01 -3.77995089e-01 -1.12082714e-01 2.36068699e+02] [ 3.75241346e-01 9.25807578e-01 -4.55440514e-02 2.96766565e+01] [ 1.20982453e-01 -2.03179859e-04 9.92654625e-01 2.29040420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:236.12, Y:29.70, Z:22.89 [[ 9.18169454e-01 -3.80009477e-01 -1.12060928e-01 2.36123788e+02] [ 3.77264139e-01 9.24982502e-01 -4.55975918e-02 2.97025253e+01] [ 1.20981915e-01 -4.10253676e-04 9.92654627e-01 2.28923166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:236.18, Y:29.72, Z:22.92 [[ 9.19090342e-01 -3.77783257e-01 -1.12039070e-01 2.36175642e+02] [ 3.75014876e-01 9.25894058e-01 -4.56512377e-02 2.97242924e+01] [ 1.20982582e-01 -5.87062349e-05 9.92654628e-01 2.29196068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.23, Y:29.75, Z:22.91 [[ 9.18455513e-01 -3.79329914e-01 -1.12019135e-01 2.36231341e+02] [ 3.76567030e-01 9.25261462e-01 -4.57001036e-02 2.97483208e+01] [ 1.20982405e-01 -2.09200615e-04 9.92654630e-01 2.29069771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:236.28, Y:29.77, Z:22.91 [[ 9.17585605e-01 -3.81435863e-01 -1.11997055e-01 2.36284435e+02] [ 3.78682001e-01 9.24395207e-01 -4.57541499e-02 2.97720953e+01] [ 1.20981815e-01 -4.27919681e-04 9.92654631e-01 2.29123327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.34, Y:29.80, Z:22.92 [[ 9.16847887e-01 -3.83212047e-01 -1.11975347e-01 2.36337467e+02] [ 3.80464896e-01 9.23660198e-01 -4.58072148e-02 2.97956186e+01] [ 1.20981048e-01 -6.04440898e-04 9.92654633e-01 2.29199215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.39, Y:29.82, Z:22.93 [[ 9.17622233e-01 -3.81360396e-01 -1.11953945e-01 2.36390538e+02] [ 3.78593123e-01 9.24426393e-01 -4.58594647e-02 2.98179067e+01] [ 1.20982165e-01 -3.03329147e-04 9.92654635e-01 2.29267638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88863999999995 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:236.44, Y:29.84, Z:22.95 [[ 9.19117881e-01 -3.77748756e-01 -1.11929438e-01 2.36441875e+02] [ 3.74947471e-01 9.25908106e-01 -4.59192007e-02 2.98398842e+01] [ 1.20982295e-01 2.37498665e-04 9.92654637e-01 2.29534698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:236.50, Y:29.86, Z:22.96 [[ 9.19680048e-01 -3.76384472e-01 -1.11907727e-01 2.36495637e+02] [ 3.73566682e-01 9.26463439e-01 -4.59720529e-02 2.98617357e+01] [ 1.20981584e-01 4.74581734e-04 9.92654638e-01 2.29606829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.55, Y:29.88, Z:22.95 [[ 9.18764306e-01 -3.78620850e-01 -1.11885660e-01 2.36553682e+02] [ 3.75813040e-01 9.25551833e-01 -4.60256955e-02 2.98791853e+01] [ 1.20982266e-01 2.38676215e-04 9.92654640e-01 2.29494889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:236.61, Y:29.90, Z:22.97 [[ 9.19754669e-01 -3.76215220e-01 -1.11863568e-01 2.36607275e+02] [ 3.73383133e-01 9.26532100e-01 -4.60793275e-02 2.98963446e+01] [ 1.20980931e-01 6.13707122e-04 9.92654642e-01 2.29744214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:236.66, Y:29.92, Z:22.98 [[ 9.20994205e-01 -3.73177028e-01 -1.11841762e-01 2.36661283e+02] [ 3.70316164e-01 9.27759537e-01 -4.61321933e-02 2.99174056e+01] [ 1.20977736e-01 1.07067031e-03 9.92654643e-01 2.29822260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.72, Y:29.94, Z:22.97 [[ 9.24027847e-01 -3.65607638e-01 -1.11819465e-01 2.36717494e+02] [ 3.62684829e-01 9.30766647e-01 -4.61861773e-02 2.99403493e+01] [ 1.20963848e-01 2.12209046e-03 9.92654645e-01 2.29719838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:236.77, Y:29.96, Z:23.00 [[ 9.25175717e-01 -3.62699921e-01 -1.11797401e-01 2.36768492e+02] [ 3.59749491e-01 9.31902468e-01 -4.62395233e-02 2.99643410e+01] [ 1.20955345e-01 2.56062606e-03 9.92654647e-01 2.29995492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:236.82, Y:29.99, Z:23.01 [[ 9.25025674e-01 -3.63089171e-01 -1.11775473e-01 2.36821658e+02] [ 3.60135176e-01 9.31750858e-01 -4.62924710e-02 2.99880879e+01] [ 1.20955188e-01 2.56744464e-03 9.92654648e-01 2.30052454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:236.88, Y:30.01, Z:22.99 [[ 9.22998959e-01 -3.68217438e-01 -1.11753481e-01 2.36877548e+02] [ 3.65294394e-01 9.29737651e-01 -4.63454993e-02 3.00126035e+01] [ 1.20966640e-01 1.95392734e-03 9.92654650e-01 2.29927574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:236.93, Y:30.04, Z:23.00 [[ 9.22555927e-01 -3.69332776e-01 -1.11731207e-01 2.36928586e+02] [ 3.66411384e-01 9.29295334e-01 -4.63991369e-02 3.00420368e+01] [ 1.20968012e-01 1.86621248e-03 9.92654652e-01 2.29996457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:236.98, Y:30.07, Z:23.02 [[ 9.23724924e-01 -3.66405941e-01 -1.11709222e-01 2.36976748e+02] [ 3.63456804e-01 9.30452235e-01 -4.64520083e-02 3.00740125e+01] [ 1.20960387e-01 2.30740101e-03 9.92654653e-01 2.30232329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.03, Y:30.10, Z:23.01 [[ 9.23521349e-01 -3.66920173e-01 -1.11704538e-01 2.37029306e+02] [ 3.63973421e-01 9.30249705e-01 -4.64632691e-02 3.01046629e+01] [ 1.20961424e-01 2.25233809e-03 9.92654653e-01 2.30122893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:237.08, Y:30.13, Z:23.02 [[ 9.21659572e-01 -3.71573872e-01 -1.11698210e-01 2.37080073e+02] [ 3.68659254e-01 9.28401910e-01 -4.64784780e-02 3.01331126e+01] [ 1.20971019e-01 1.65875556e-03 9.92654653e-01 2.30200103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:237.13, Y:30.16, Z:23.04 [[ 9.20322355e-01 -3.74876009e-01 -1.11690377e-01 2.37130114e+02] [ 3.71983299e-01 9.27074122e-01 -4.64972926e-02 3.01590327e+01] [ 1.20975978e-01 1.24554294e-03 9.92654654e-01 2.30424095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:237.18, Y:30.19, Z:23.05 [[ 9.18797128e-01 -3.78605401e-01 -1.11668203e-01 2.37181643e+02] [ 3.75733633e-01 9.25557826e-01 -4.65504850e-02 3.01855491e+01] [ 1.20979644e-01 8.12952241e-04 9.92654655e-01 2.30511390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78864 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:237.23, Y:30.21, Z:23.06 [[ 9.17983071e-01 -3.80581506e-01 -1.11645860e-01 2.37234435e+02] [ 3.77717781e-01 9.24747178e-01 -4.66040126e-02 3.02107433e+01] [ 1.20980819e-01 6.11068270e-04 9.92654657e-01 2.30589370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.29, Y:30.23, Z:23.05 [[ 9.17682042e-01 -3.81308644e-01 -1.11639541e-01 2.37291315e+02] [ 3.78448438e-01 9.24447638e-01 -4.66191446e-02 3.02336479e+01] [ 1.20981193e-01 5.31741976e-04 9.92654657e-01 2.30464752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.34, Y:30.26, Z:23.05 [[ 9.18645640e-01 -3.78987297e-01 -1.11619071e-01 2.37343883e+02] [ 3.76104046e-01 9.25401445e-01 -4.66681044e-02 3.02602826e+01] [ 1.20979068e-01 8.91066525e-04 9.92654659e-01 2.30537326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.40, Y:30.28, Z:23.06 [[ 9.19517771e-01 -3.76868189e-01 -1.11612891e-01 2.37396597e+02] [ 3.73967576e-01 9.26266139e-01 -4.66828793e-02 3.02848242e+01] [ 1.20976534e-01 1.18613482e-03 9.92654659e-01 2.30605174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02864 meters Centerline goodness : 0.998967 with order 1 Centerline is valid? [True, True] Translation: X:237.45, Y:30.31, Z:23.09 [[ 9.19485423e-01 -3.76953533e-01 -1.11591180e-01 2.37447604e+02] [ 3.74047255e-01 9.26231352e-01 -4.67347194e-02 3.03089975e+01] [ 1.20976068e-01 1.23151855e-03 9.92654660e-01 2.30883162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:237.50, Y:30.33, Z:23.09 [[ 9.17253900e-01 -3.82353480e-01 -1.11584497e-01 2.37500968e+02] [ 3.79484976e-01 9.24015978e-01 -4.67506715e-02 3.03336011e+01] [ 1.20981140e-01 5.37595510e-04 9.92654660e-01 2.30914345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.56, Y:30.36, Z:23.08 [[ 9.15116869e-01 -3.87442164e-01 -1.11578157e-01 2.37556396e+02] [ 3.84609418e-01 9.21894004e-01 -4.67657980e-02 3.03574823e+01] [ 1.20982276e-01 -1.17839428e-04 9.92654660e-01 2.30813203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:237.61, Y:30.38, Z:23.09 [[ 9.15465770e-01 -3.86618876e-01 -1.11571812e-01 2.37608404e+02] [ 3.83778190e-01 9.22239581e-01 -4.67809318e-02 3.03844945e+01] [ 1.20982332e-01 7.51379543e-06 9.92654661e-01 2.30888235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:237.66, Y:30.41, Z:23.10 [[ 9.16064558e-01 -3.85199727e-01 -1.11565659e-01 2.37659026e+02] [ 3.82346761e-01 9.22833206e-01 -4.67956014e-02 3.04131674e+01] [ 1.20982147e-01 2.11023665e-04 9.92654661e-01 2.30965024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:237.71, Y:30.44, Z:23.10 [[ 9.14806389e-01 -3.88180516e-01 -1.11557866e-01 2.37711593e+02] [ 3.85347341e-01 9.21583344e-01 -4.68141711e-02 3.04373919e+01] [ 1.20982220e-01 -1.62624206e-04 9.92654661e-01 2.31033659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38863999999995 meters Centerline goodness : 0.998580 with order 1 Centerline is valid? [True, True] Translation: X:237.76, Y:30.46, Z:23.13 [[ 9.13994706e-01 -3.90090499e-01 -1.11548558e-01 2.37760981e+02] [ 3.87268779e-01 9.20776439e-01 -4.68363396e-02 3.04634205e+01] [ 1.20981695e-01 -3.91107503e-04 9.92654661e-01 2.31327228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44863999999995 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:237.82, Y:30.49, Z:23.14 [[ 9.13191400e-01 -3.91969068e-01 -1.11542442e-01 2.37815846e+02] [ 3.89159521e-01 9.19978185e-01 -4.68508999e-02 3.04876434e+01] [ 1.20980717e-01 -6.23964512e-04 9.92654661e-01 2.31352596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.87, Y:30.51, Z:23.13 [[ 9.12519179e-01 -3.93532353e-01 -1.11539385e-01 2.37871480e+02] [ 3.90733543e-01 9.19310399e-01 -4.68581779e-02 3.05122439e+01] [ 1.20979525e-01 -8.23192953e-04 9.92654661e-01 2.31258296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.93, Y:30.53, Z:23.13 [[ 9.13481270e-01 -3.91296433e-01 -1.11530580e-01 2.37925587e+02] [ 3.88478442e-01 9.20264553e-01 -4.68791262e-02 3.05340894e+01] [ 1.20981274e-01 -5.04022129e-04 9.92654662e-01 2.31330383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:237.98, Y:30.56, Z:23.14 [[ 9.13983527e-01 -3.90123575e-01 -1.11524479e-01 2.37979168e+02] [ 3.87295109e-01 9.20762448e-01 -4.68936345e-02 3.05564878e+01] [ 1.20981865e-01 -3.32875942e-04 9.92654662e-01 2.31400047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68863999999996 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:238.03, Y:30.58, Z:23.16 [[ 9.15654609e-01 -3.86186871e-01 -1.11518330e-01 2.38031214e+02] [ 3.83327480e-01 9.22420543e-01 -4.69082529e-02 3.05771349e+01] [ 1.20982150e-01 2.03717341e-04 9.92654662e-01 2.31627395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74863999999997 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:238.09, Y:30.60, Z:23.17 [[ 9.14585459e-01 -3.88714315e-01 -1.11510622e-01 2.38085965e+02] [ 3.85871388e-01 9.21358328e-01 -4.69265692e-02 3.05968372e+01] [ 1.20982270e-01 -1.10400705e-04 9.92654662e-01 2.31716181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.14, Y:30.62, Z:23.16 [[ 9.12707568e-01 -3.93105176e-01 -1.11504330e-01 2.38143036e+02] [ 3.90293005e-01 9.19493265e-01 -4.69415174e-02 3.06172284e+01] [ 1.20980433e-01 -6.75481688e-04 9.92654662e-01 2.31591092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86863999999997 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:238.20, Y:30.63, Z:23.18 [[ 9.12733355e-01 -3.93047077e-01 -1.11498060e-01 2.38196799e+02] [ 3.90232656e-01 9.19518119e-01 -4.69564034e-02 3.06348785e+01] [ 1.20980564e-01 -6.51508520e-04 9.92654662e-01 2.31829172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.25, Y:30.65, Z:23.17 [[ 9.12335548e-01 -3.93971328e-01 -1.11491883e-01 2.38254494e+02] [ 3.91161988e-01 9.19122418e-01 -4.69710660e-02 3.06544001e+01] [ 1.20979942e-01 -7.58013325e-04 9.92654662e-01 2.31729121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:238.31, Y:30.67, Z:23.18 [[ 9.13134193e-01 -3.92118474e-01 -1.11485643e-01 2.38310580e+02] [ 3.89293555e-01 9.19914592e-01 -4.69858727e-02 3.06711909e+01] [ 1.20981298e-01 -4.96235241e-04 9.92654663e-01 2.31792865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:238.37, Y:30.69, Z:23.19 [[ 9.13555621e-01 -3.91137387e-01 -1.11479466e-01 2.38366353e+02] [ 3.88303398e-01 9.20332234e-01 -4.70005224e-02 3.06896788e+01] [ 1.20981808e-01 -3.50264233e-04 9.92654663e-01 2.31877068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.42, Y:30.71, Z:23.19 [[ 9.12823568e-01 -3.92844555e-01 -1.11473268e-01 2.38423068e+02] [ 3.90021445e-01 9.19604720e-01 -4.70152192e-02 3.07060907e+01] [ 1.20981016e-01 -5.60364929e-04 9.92654663e-01 2.31947015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:238.48, Y:30.73, Z:23.20 [[ 9.12295478e-01 -3.94071135e-01 -1.11467036e-01 2.38477599e+02] [ 3.91255338e-01 9.19079670e-01 -4.70299889e-02 3.07260548e+01] [ 1.20980248e-01 -7.06826701e-04 9.92654663e-01 2.32033732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:238.53, Y:30.74, Z:23.21 [[ 9.11801299e-01 -3.95214960e-01 -1.11460875e-01 2.38534787e+02] [ 3.92405889e-01 9.18588279e-01 -4.70445859e-02 3.07413329e+01] [ 1.20979378e-01 -8.42589306e-04 9.92654663e-01 2.32094552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.59, Y:30.76, Z:23.22 [[ 9.13202459e-01 -3.91968276e-01 -1.11454651e-01 2.38590312e+02] [ 3.89133275e-01 9.19978648e-01 -4.70593284e-02 3.07602084e+01] [ 1.20981663e-01 -3.96018808e-04 9.92654663e-01 2.32165551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.65, Y:30.78, Z:23.22 [[ 9.14571342e-01 -3.88769831e-01 -1.11432847e-01 2.38645674e+02] [ 3.85904848e-01 9.21334907e-01 -4.71109009e-02 3.07785932e+01] [ 1.20982269e-01 8.38038686e-05 9.92654665e-01 2.32243463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.70, Y:30.80, Z:23.23 [[ 9.16542424e-01 -3.84106290e-01 -1.11410696e-01 2.38698049e+02] [ 3.81200532e-01 9.23288570e-01 -4.71632285e-02 3.08013690e+01] [ 1.20979915e-01 7.57283283e-04 9.92654666e-01 2.32329109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.75, Y:30.82, Z:23.24 [[ 9.17475812e-01 -3.81878840e-01 -1.11385301e-01 2.38751236e+02] [ 3.78949432e-01 9.24211720e-01 -4.72231287e-02 3.08230978e+01] [ 1.20977114e-01 1.11668193e-03 9.92654669e-01 2.32386548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.80, Y:30.85, Z:23.25 [[ 9.18092795e-01 -3.80400512e-01 -1.11360095e-01 2.38803501e+02] [ 3.77453056e-01 9.24820824e-01 -4.72824930e-02 3.08478327e+01] [ 1.20974420e-01 1.37650777e-03 9.92654671e-01 2.32465822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58864 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:238.85, Y:30.87, Z:23.27 [[ 9.18137164e-01 -3.80300859e-01 -1.11334648e-01 2.38854145e+02] [ 3.77345417e-01 9.24861686e-01 -4.73423381e-02 3.08703831e+01] [ 1.20973482e-01 1.45514080e-03 9.92654673e-01 2.32744803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.91, Y:30.89, Z:23.26 [[ 9.17178020e-01 -3.82614736e-01 -1.11312369e-01 2.38908845e+02] [ 3.79669909e-01 9.23907196e-01 -4.73946635e-02 3.08945491e+01] [ 1.20976195e-01 1.20738662e-03 9.92654674e-01 2.32617039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:238.96, Y:30.92, Z:23.27 [[ 9.14855617e-01 -3.88142407e-01 -1.11286440e-01 2.38962053e+02] [ 3.85230843e-01 9.21599249e-01 -4.74554688e-02 3.09173092e+01] [ 1.20980980e-01 5.43932987e-04 9.92654676e-01 2.32693692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.02, Y:30.94, Z:23.28 [[ 9.11420966e-01 -3.96147517e-01 -1.11260811e-01 2.39015337e+02] [ 3.93287856e-01 9.18186768e-01 -4.75154829e-02 3.09398735e+01] [ 1.20981345e-01 -4.50918417e-04 9.92654679e-01 2.32762180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.07, Y:30.96, Z:23.28 [[ 9.09034812e-01 -4.01599870e-01 -1.11235137e-01 2.39069422e+02] [ 3.98773442e-01 9.15814563e-01 -4.75755113e-02 3.09601268e+01] [ 1.20977077e-01 -1.10982241e-03 9.92654681e-01 2.32834420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:239.12, Y:30.98, Z:23.29 [[ 9.07190589e-01 -4.05755599e-01 -1.11209843e-01 2.39124393e+02] [ 4.02952987e-01 9.13980218e-01 -4.76345645e-02 3.09800301e+01] [ 1.20971588e-01 -1.59870976e-03 9.92654683e-01 2.32912977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.18, Y:31.00, Z:23.30 [[ 9.05513555e-01 -4.09486209e-01 -1.11203628e-01 2.39179009e+02] [ 4.06709788e-01 9.12313934e-01 -4.76490695e-02 3.09973374e+01] [ 1.20964256e-01 -2.08072551e-03 9.92654683e-01 2.32984936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00863999999996 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:239.23, Y:31.01, Z:23.33 [[ 9.04093486e-01 -4.12618750e-01 -1.11178845e-01 2.39234616e+02] [ 4.09858789e-01 9.10900561e-01 -4.77068245e-02 3.10083752e+01] [ 1.20957603e-01 -2.43619762e-03 9.92654685e-01 2.33285587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.29, Y:31.02, Z:23.32 [[ 9.03745950e-01 -4.13385180e-01 -1.11157327e-01 2.39294365e+02] [ 4.10624834e-01 9.10552867e-01 -4.77569090e-02 3.10242490e+01] [ 1.20956622e-01 -2.48384597e-03 9.92654686e-01 2.33155122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.35, Y:31.04, Z:23.32 [[ 9.06341768e-01 -4.07668312e-01 -1.11135717e-01 2.39351471e+02] [ 4.04858864e-01 9.13128565e-01 -4.78071470e-02 3.10371648e+01] [ 1.20970657e-01 -1.66466601e-03 9.92654688e-01 2.33227029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.41, Y:31.05, Z:23.33 [[ 9.07071292e-01 -4.06049387e-01 -1.11110605e-01 2.39407233e+02] [ 4.03220686e-01 9.13850085e-01 -4.78654407e-02 3.10549470e+01] [ 1.20974168e-01 -1.38472707e-03 9.92654690e-01 2.33300531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24863999999997 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:239.46, Y:31.07, Z:23.36 [[ 9.08897857e-01 -4.01950242e-01 -1.11088649e-01 2.39461821e+02] [ 3.99084745e-01 9.15661177e-01 -4.79163434e-02 3.10707730e+01] [ 1.20979549e-01 -7.82723219e-04 9.92654691e-01 2.33614462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30863999999997 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:239.52, Y:31.09, Z:23.37 [[ 9.09361314e-01 -4.00901510e-01 -1.11085461e-01 2.39517834e+02] [ 3.98027311e-01 9.16120939e-01 -4.79237324e-02 3.10878718e+01] [ 1.20980414e-01 -6.35059056e-04 9.92654691e-01 2.33690955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.58, Y:31.11, Z:23.35 [[ 9.11090715e-01 -3.96961978e-01 -1.11062578e-01 2.39576576e+02] [ 3.94052091e-01 9.17835053e-01 -4.79767053e-02 3.11089919e+01] [ 1.20982055e-01 -5.33105161e-05 9.92654693e-01 2.33521601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.63, Y:31.13, Z:23.36 [[ 9.13222042e-01 -3.92034861e-01 -1.11059310e-01 2.39631405e+02] [ 3.89087666e-01 9.19950161e-01 -4.79842702e-02 3.11285778e+01] [ 1.20980536e-01 6.08485566e-04 9.92654693e-01 2.33603563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.68, Y:31.15, Z:23.37 [[ 9.14036436e-01 -3.90138756e-01 -1.11036681e-01 2.39684882e+02] [ 3.87171250e-01 9.20755619e-01 -4.80365772e-02 3.11493025e+01] [ 1.20978578e-01 9.16971271e-04 9.92654695e-01 2.33672824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.74, Y:31.17, Z:23.38 [[ 9.14866882e-01 -3.88194921e-01 -1.11010321e-01 2.39739965e+02] [ 3.85205757e-01 9.21576456e-01 -4.80974180e-02 3.11695274e+01] [ 1.20975671e-01 1.24092024e-03 9.92654697e-01 2.33760786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.79, Y:31.19, Z:23.38 [[ 9.14610697e-01 -3.88804647e-01 -1.10987473e-01 2.39794554e+02] [ 3.85813565e-01 9.21319414e-01 -4.81500828e-02 3.11897547e+01] [ 1.20975890e-01 1.21810813e-03 9.92654698e-01 2.33845461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.85, Y:31.21, Z:23.39 [[ 9.15545623e-01 -3.86604578e-01 -1.10964463e-01 2.39847609e+02] [ 3.83590955e-01 9.22244243e-01 -4.82030541e-02 3.12111986e+01] [ 1.20971858e-01 1.56713095e-03 9.92654700e-01 2.33920484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:239.90, Y:31.23, Z:23.41 [[ 9.16582521e-01 -3.84147364e-01 -1.10938204e-01 2.39901143e+02] [ 3.81108480e-01 9.23269717e-01 -4.82634135e-02 3.12325911e+01] [ 1.20966147e-01 1.95791112e-03 9.92654702e-01 2.34138075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:239.96, Y:31.26, Z:23.41 [[ 9.15997190e-01 -3.85541943e-01 -1.10934926e-01 2.39958316e+02] [ 3.82512329e-01 9.22688590e-01 -4.82709460e-02 3.12558359e+01] [ 1.20968865e-01 1.78207397e-03 9.92654702e-01 2.34061357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84864 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:240.01, Y:31.28, Z:23.43 [[ 9.16868823e-01 -3.83465728e-01 -1.10930596e-01 2.40010487e+02] [ 3.80419758e-01 9.23552794e-01 -4.82808959e-02 3.12774390e+01] [ 1.20964330e-01 2.06705785e-03 9.92654702e-01 2.34328223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.07, Y:31.30, Z:23.42 [[ 9.16974118e-01 -3.83215278e-01 -1.10925727e-01 2.40066711e+02] [ 3.80166130e-01 9.23656640e-01 -4.82920781e-02 3.13012289e+01] [ 1.20963547e-01 2.11238129e-03 9.92654702e-01 2.34204132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:240.12, Y:31.32, Z:23.43 [[ 9.17456966e-01 -3.82063984e-01 -1.10904586e-01 2.40120564e+02] [ 3.79000590e-01 9.24132967e-01 -4.83405813e-02 3.13232265e+01] [ 1.20959779e-01 2.31749950e-03 9.92654704e-01 2.34260650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.17, Y:31.35, Z:23.43 [[ 9.18220758e-01 -3.80231291e-01 -1.10881944e-01 2.40173667e+02] [ 3.77148310e-01 9.24887735e-01 -4.83924620e-02 3.13465458e+01] [ 1.20953678e-01 2.61602538e-03 9.92654705e-01 2.34327905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:240.23, Y:31.37, Z:23.46 [[ 9.18898301e-01 -3.78598480e-01 -1.10856228e-01 2.40225250e+02] [ 3.75496558e-01 9.25556485e-01 -4.84513004e-02 3.13702785e+01] [ 1.20947289e-01 2.89568554e-03 9.92654707e-01 2.34607792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14864 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:240.28, Y:31.39, Z:23.47 [[ 9.20587875e-01 -3.74472386e-01 -1.10853037e-01 2.40278308e+02] [ 3.71339749e-01 9.27231662e-01 -4.84586003e-02 3.13941542e+01] [ 1.20932853e-01 3.44626105e-03 9.92654707e-01 2.34660114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.33, Y:31.42, Z:23.45 [[ 9.20949102e-01 -3.73590789e-01 -1.10827221e-01 2.40333199e+02] [ 3.70444702e-01 9.27586529e-01 -4.85175717e-02 3.14220489e+01] [ 1.20927555e-01 3.62685726e-03 9.92654710e-01 2.34535355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26863999999995 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:240.38, Y:31.45, Z:23.48 [[ 9.21957003e-01 -3.71097451e-01 -1.10824033e-01 2.40382862e+02] [ 3.67932541e-01 9.28585475e-01 -4.85248529e-02 3.14484990e+01] [ 1.20917036e-01 3.96205995e-03 9.92654710e-01 2.34818340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32863999999995 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:240.43, Y:31.47, Z:23.49 [[ 9.21260879e-01 -3.72828916e-01 -1.10801589e-01 2.40434941e+02] [ 3.69670314e-01 9.27892357e-01 -4.85760473e-02 3.14749173e+01] [ 1.20922503e-01 3.79115369e-03 9.92654711e-01 2.34867476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:240.49, Y:31.50, Z:23.47 [[ 9.19654348e-01 -3.76780869e-01 -1.10779317e-01 2.40489106e+02] [ 3.73644661e-01 9.26296444e-01 -4.86267874e-02 3.15029792e+01] [ 1.20936131e-01 3.32773617e-03 9.92654713e-01 2.34731437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.54, Y:31.53, Z:23.48 [[ 9.19017300e-01 -3.78338527e-01 -1.10757214e-01 2.40539949e+02] [ 3.75207521e-01 9.25661849e-01 -4.86770802e-02 3.15322799e+01] [ 1.20940142e-01 3.17813923e-03 9.92654714e-01 2.34790155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:240.59, Y:31.56, Z:23.49 [[ 9.17545257e-01 -3.81901221e-01 -1.10734634e-01 2.40589747e+02] [ 3.78789827e-01 9.24199010e-01 -4.87283933e-02 3.15606142e+01] [ 1.20950272e-01 2.76535336e-03 9.92654716e-01 2.34869373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:240.64, Y:31.59, Z:23.49 [[ 9.15614236e-01 -3.86515396e-01 -1.10708716e-01 2.40641452e+02] [ 3.83430428e-01 9.22280280e-01 -4.87872074e-02 3.15874411e+01] [ 1.20961472e-01 2.22117142e-03 9.92654718e-01 2.34943850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62863999999996 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:240.69, Y:31.61, Z:23.52 [[ 9.14876700e-01 -3.88264454e-01 -1.10685758e-01 2.40691877e+02] [ 3.85185937e-01 9.21545725e-01 -4.88392384e-02 3.16121274e+01] [ 1.20964527e-01 2.04728391e-03 9.92654719e-01 2.35226712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68863999999996 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:240.74, Y:31.64, Z:23.53 [[ 9.13317825e-01 -3.91923892e-01 -1.10662608e-01 2.40744411e+02] [ 3.88865750e-01 9.19996215e-01 -4.88916366e-02 3.16374675e+01] [ 1.20970981e-01 1.62070519e-03 9.92654721e-01 2.35300340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:240.80, Y:31.66, Z:23.51 [[ 9.11277328e-01 -3.96651809e-01 -1.10638937e-01 2.40799757e+02] [ 3.93621822e-01 9.17968536e-01 -4.89451443e-02 3.16639146e+01] [ 1.20977243e-01 1.05270026e-03 9.92654723e-01 2.35145251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80863999999997 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:240.85, Y:31.69, Z:23.55 [[ 9.11659580e-01 -3.95779072e-01 -1.10615261e-01 2.40849769e+02] [ 3.92736194e-01 9.18344935e-01 -4.89985943e-02 3.16909741e+01] [ 1.20975583e-01 1.22742123e-03 9.92654724e-01 2.35456578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:240.91, Y:31.72, Z:23.53 [[ 9.11341281e-01 -3.96511918e-01 -1.10613602e-01 2.40906923e+02] [ 3.93473962e-01 9.18028873e-01 -4.90023380e-02 3.17176074e+01] [ 1.20976492e-01 1.13428113e-03 9.92654724e-01 2.35277827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:240.96, Y:31.74, Z:23.55 [[ 9.11514385e-01 -3.96113885e-01 -1.10613364e-01 2.40958355e+02] [ 3.93072943e-01 9.18200621e-01 -4.90028755e-02 3.17403998e+01] [ 1.20975979e-01 1.18770527e-03 9.92654724e-01 2.35524026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98864 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:241.01, Y:31.77, Z:23.56 [[ 9.11296208e-01 -3.96622088e-01 -1.10589967e-01 2.41011018e+02] [ 3.93578474e-01 9.17981226e-01 -4.90556229e-02 3.17651117e+01] [ 1.20976057e-01 1.17837272e-03 9.92654726e-01 2.35643085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04864 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:241.06, Y:31.79, Z:23.57 [[ 9.11726979e-01 -3.95636967e-01 -1.10568108e-01 2.41064585e+02] [ 3.92580162e-01 9.18405973e-01 -4.91048423e-02 3.17916921e+01] [ 1.20974102e-01 1.36336385e-03 9.92654727e-01 2.35688577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:241.12, Y:31.81, Z:23.58 [[ 9.11504003e-01 -3.96151343e-01 -1.10564757e-01 2.41117887e+02] [ 3.93097391e-01 9.18184303e-01 -4.91123870e-02 3.18145351e+01] [ 1.20974762e-01 1.30342006e-03 9.92654728e-01 2.35755228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:241.17, Y:31.84, Z:23.58 [[ 9.09147038e-01 -4.01533258e-01 -1.10556345e-01 2.41171964e+02] [ 3.98516552e-01 9.15844240e-01 -4.91313158e-02 3.18364421e+01] [ 1.20980249e-01 6.09056940e-04 9.92654728e-01 2.35829272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:241.23, Y:31.86, Z:23.57 [[ 9.07325857e-01 -4.05638221e-01 -1.10532453e-01 2.41226363e+02] [ 4.02645273e-01 9.14033708e-01 -4.91850068e-02 3.18611057e+01] [ 1.20981707e-01 1.21458486e-04 9.92654729e-01 2.35710072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28864 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:241.28, Y:31.88, Z:23.60 [[ 9.06689897e-01 -4.07065043e-01 -1.10505572e-01 2.41278550e+02] [ 4.04075298e-01 9.13399174e-01 -4.92453283e-02 3.18818094e+01] [ 1.20981750e-01 -2.33040076e-06 9.92654732e-01 2.35990636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.33, Y:31.91, Z:23.59 [[ 9.06242545e-01 -4.08066368e-01 -1.10482080e-01 2.41333891e+02] [ 4.05077617e-01 9.12952262e-01 -4.92979781e-02 3.19069897e+01] [ 1.20981711e-01 -7.78924198e-05 9.92654733e-01 2.35855013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:241.39, Y:31.93, Z:23.59 [[ 9.05145931e-01 -4.10499485e-01 -1.10458212e-01 2.41387219e+02] [ 4.07522251e-01 9.11860765e-01 -4.93513984e-02 3.19286335e+01] [ 1.20981234e-01 -3.43961863e-04 9.92654735e-01 2.35913125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46864 meters Centerline goodness : 0.998479 with order 1 Centerline is valid? [True, True] Translation: X:241.44, Y:31.95, Z:23.62 [[ 9.04551863e-01 -4.11814058e-01 -1.10431467e-01 2.41439646e+02] [ 4.08839284e-01 9.11267785e-01 -4.94111739e-02 3.19483197e+01] [ 1.20980854e-01 -4.53752469e-04 9.92654737e-01 2.36207175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:241.50, Y:31.97, Z:23.61 [[ 9.03706960e-01 -4.13671118e-01 -1.10408046e-01 2.41497708e+02] [ 4.10703757e-01 9.10426159e-01 -4.94634516e-02 3.19684750e+01] [ 1.20979975e-01 -6.44533922e-04 9.92654739e-01 2.36066602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.55, Y:31.99, Z:23.61 [[ 9.04402446e-01 -4.12154675e-01 -1.10384511e-01 2.41551985e+02] [ 4.09169643e-01 9.11113811e-01 -4.95159195e-02 3.19892028e+01] [ 1.20981070e-01 -3.83672121e-04 9.92654740e-01 2.36136830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.61, Y:32.01, Z:23.62 [[ 9.06565060e-01 -4.07382191e-01 -1.10360960e-01 2.41606337e+02] [ 4.04355444e-01 9.13257714e-01 -4.95683539e-02 3.20093467e+01] [ 1.20981263e-01 3.11882703e-04 9.92654742e-01 2.36218956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70863999999995 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:241.66, Y:32.03, Z:23.65 [[ 9.08491809e-01 -4.03074469e-01 -1.10334066e-01 2.41658516e+02] [ 4.00008726e-01 9.15166688e-01 -4.96281460e-02 3.20305546e+01] [ 1.20977900e-01 9.52174871e-04 9.92654744e-01 2.36478302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76863999999995 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:241.71, Y:32.06, Z:23.66 [[ 9.09897445e-01 -3.99897783e-01 -1.10310482e-01 2.41711694e+02] [ 3.96802390e-01 9.16558623e-01 -4.96805118e-02 3.20552833e+01] [ 1.20973150e-01 1.43270781e-03 9.92654746e-01 2.36552216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82863999999995 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:241.76, Y:32.08, Z:23.66 [[ 9.10904853e-01 -3.97604386e-01 -1.10286451e-01 2.41764012e+02] [ 3.94485771e-01 9.17555189e-01 -4.97338029e-02 3.20803078e+01] [ 1.20968283e-01 1.79632684e-03 9.92654747e-01 2.36610544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.82, Y:32.11, Z:23.65 [[ 9.09676065e-01 -4.00411316e-01 -1.10273454e-01 2.41818143e+02] [ 3.97309731e-01 9.16334361e-01 -4.97626041e-02 3.21075726e+01] [ 1.20972865e-01 1.45513361e-03 9.92654748e-01 2.36498013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.87, Y:32.13, Z:23.66 [[ 9.08218506e-01 -4.03712961e-01 -1.10249674e-01 2.41872151e+02] [ 4.00629193e-01 9.14885070e-01 -4.98152342e-02 3.21309809e+01] [ 1.20976836e-01 1.07387971e-03 9.92654750e-01 2.36569838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00863999999996 meters Centerline goodness : 0.998966 with order 1 Centerline is valid? [True, True] Translation: X:241.92, Y:32.15, Z:23.68 [[ 9.07768097e-01 -4.04730733e-01 -1.10227567e-01 2.41923222e+02] [ 4.01648506e-01 9.14435372e-01 -4.98641031e-02 3.21542723e+01] [ 1.20977521e-01 9.92304433e-04 9.92654751e-01 2.36838199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:241.98, Y:32.18, Z:23.67 [[ 9.07307306e-01 -4.05769101e-01 -1.10203851e-01 2.41978928e+02] [ 4.02688144e-01 9.13975167e-01 -4.99164629e-02 3.21792946e+01] [ 1.20978141e-01 9.11787324e-04 9.92654753e-01 2.36716756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:242.03, Y:32.20, Z:23.68 [[ 9.07312607e-01 -4.05763809e-01 -1.10179695e-01 2.42033168e+02] [ 4.02676345e-01 9.13977455e-01 -4.99697254e-02 3.22022693e+01] [ 1.20977663e-01 9.71404925e-04 9.92654754e-01 2.36785542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:242.08, Y:32.23, Z:23.71 [[ 9.08270204e-01 -4.03621762e-01 -1.10157660e-01 2.42083067e+02] [ 4.00512694e-01 9.14925000e-01 -5.00182542e-02 3.22265742e+01] [ 1.20974453e-01 1.31054866e-03 9.92654756e-01 2.37060189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.14, Y:32.25, Z:23.69 [[ 9.07687996e-01 -4.04935850e-01 -1.10133820e-01 2.42139239e+02] [ 4.01830055e-01 9.14344318e-01 -5.00706933e-02 3.22498851e+01] [ 1.20975651e-01 1.19348847e-03 9.92654757e-01 2.36945421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30863999999997 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:242.19, Y:32.27, Z:23.72 [[ 9.08896357e-01 -4.02222943e-01 -1.10109568e-01 2.42189741e+02] [ 3.99090826e-01 9.15540332e-01 -5.01239680e-02 3.22743945e+01] [ 1.20970761e-01 1.61377333e-03 9.92654759e-01 2.37238843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.25, Y:32.30, Z:23.71 [[ 9.10196981e-01 -3.99277125e-01 -1.10087391e-01 2.42245781e+02] [ 3.96117623e-01 9.16827975e-01 -5.01726295e-02 3.23012343e+01] [ 1.20963983e-01 2.05942038e-03 9.92654761e-01 2.37084688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42864 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:242.29, Y:32.33, Z:23.74 [[ 9.11543061e-01 -3.96195379e-01 -1.10083921e-01 2.42294657e+02] [ 3.93012541e-01 9.18162886e-01 -5.01802414e-02 3.23288641e+01] [ 1.20956150e-01 2.47708924e-03 9.92654761e-01 2.37407935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.35, Y:32.36, Z:23.72 [[ 9.11803290e-01 -3.95597065e-01 -1.10080525e-01 2.42349123e+02] [ 3.92408985e-01 9.18420592e-01 -5.01876893e-02 3.23580232e+01] [ 1.20954324e-01 2.56471298e-03 9.92654761e-01 2.37244579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.40, Y:32.39, Z:23.73 [[ 9.10298941e-01 -3.99047941e-01 -1.10075337e-01 2.42400481e+02] [ 3.95883573e-01 9.16927615e-01 -5.01990668e-02 3.23868534e+01] [ 1.20962950e-01 2.11913967e-03 9.92654761e-01 2.37302157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60864 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:242.45, Y:32.41, Z:23.76 [[ 9.07120111e-01 -4.06228756e-01 -1.10051359e-01 2.42451298e+02] [ 4.03110497e-01 9.13770598e-01 -5.02515797e-02 3.24094218e+01] [ 1.20975333e-01 1.22136066e-03 9.92654762e-01 2.37620927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.51, Y:32.44, Z:23.74 [[ 9.03268975e-01 -4.14723237e-01 -1.10044514e-01 2.42507090e+02] [ 4.11665698e-01 9.09947595e-01 -5.02665635e-02 3.24359088e+01] [ 1.20981453e-01 1.02675482e-04 9.92654762e-01 2.37431943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72864 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:242.56, Y:32.46, Z:23.77 [[ 9.02991421e-01 -4.15328618e-01 -1.10039230e-01 2.42556399e+02] [ 4.12274146e-01 9.09671445e-01 -5.02781279e-02 3.24611188e+01] [ 1.20981491e-01 3.43883396e-05 9.92654763e-01 2.37736904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.61, Y:32.49, Z:23.76 [[ 9.03084371e-01 -4.15132745e-01 -1.10015562e-01 2.42610072e+02] [ 4.12070521e-01 9.09760842e-01 -5.03298655e-02 3.24899339e+01] [ 1.20981425e-01 1.17945095e-04 9.92654764e-01 2.37571757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:242.66, Y:32.52, Z:23.78 [[ 9.03509556e-01 -4.14213903e-01 -1.09987840e-01 2.42659867e+02] [ 4.11137523e-01 9.10179514e-01 -5.03903741e-02 3.25165977e+01] [ 1.20981073e-01 3.08056296e-04 9.92654766e-01 2.37848284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:242.72, Y:32.54, Z:23.77 [[ 9.01029723e-01 -4.19584273e-01 -1.09974887e-01 2.42715366e+02] [ 4.16544198e-01 9.07716306e-01 -5.04186288e-02 3.25433215e+01] [ 1.20980862e-01 -3.80717934e-04 9.92654767e-01 2.37723759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96864 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:242.77, Y:32.57, Z:23.80 [[ 9.00230812e-01 -4.21296540e-01 -1.09971410e-01 2.42767215e+02] [ 4.18268257e-01 9.06922744e-01 -5.04262115e-02 3.25659990e+01] [ 1.20979961e-01 -6.02320615e-04 9.92654767e-01 2.38017950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:242.83, Y:32.59, Z:23.79 [[ 8.96987230e-01 -4.28159937e-01 -1.09968078e-01 2.42825204e+02] [ 4.25181963e-01 9.03701700e-01 -5.04334769e-02 3.25874404e+01] [ 1.20971933e-01 -1.51825850e-03 9.92654767e-01 2.37871060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08864 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:242.88, Y:32.61, Z:23.82 [[ 8.98182780e-01 -4.25647552e-01 -1.09962967e-01 2.42879311e+02] [ 4.22649431e-01 9.04888280e-01 -5.04446188e-02 3.26059559e+01] [ 1.20975828e-01 -1.16729732e-03 9.92654767e-01 2.38155560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14864 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:242.93, Y:32.63, Z:23.83 [[ 9.00405991e-01 -4.20924649e-01 -1.09961314e-01 2.42934958e+02] [ 4.17890914e-01 9.07095453e-01 -5.04482203e-02 3.26260935e+01] [ 1.20980308e-01 -5.27954277e-04 9.92654767e-01 2.38291911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20863999999995 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:242.99, Y:32.65, Z:23.83 [[ 9.01527396e-01 -4.18517904e-01 -1.09959623e-01 2.42991758e+02] [ 4.15465861e-01 9.08208524e-01 -5.04519071e-02 3.26465862e+01] [ 1.20981293e-01 -2.00692939e-04 9.92654767e-01 2.38296258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.05, Y:32.67, Z:23.82 [[ 9.01240385e-01 -4.19136041e-01 -1.09957935e-01 2.43048643e+02] [ 4.16088131e-01 9.07923401e-01 -5.04555861e-02 3.26675696e+01] [ 1.20981136e-01 -2.79579605e-04 9.92654767e-01 2.38156803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.10, Y:32.69, Z:23.82 [[ 9.01002547e-01 -4.19649335e-01 -1.09949291e-01 2.43103006e+02] [ 4.16602935e-01 9.07686250e-01 -5.04744145e-02 3.26890545e+01] [ 1.20981014e-01 -3.27621279e-04 9.92654767e-01 2.38223440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.16, Y:32.71, Z:23.83 [[ 9.02534637e-01 -4.16350366e-01 -1.09925439e-01 2.43155184e+02] [ 4.13273214e-01 9.09204236e-01 -5.05263087e-02 3.27145489e+01] [ 1.20981321e-01 1.72504377e-04 9.92654769e-01 2.38297996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44863999999995 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:243.21, Y:32.74, Z:23.86 [[ 9.03449980e-01 -4.14366757e-01 -1.09901429e-01 2.43206995e+02] [ 4.11268614e-01 9.10109853e-01 -5.05784803e-02 3.27365449e+01] [ 1.20980414e-01 4.96118822e-04 9.92654770e-01 2.38557208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50863999999996 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:243.26, Y:32.76, Z:23.86 [[ 9.03321610e-01 -4.14652888e-01 -1.09877435e-01 2.43259050e+02] [ 4.11550521e-01 9.09979514e-01 -5.06305510e-02 3.27624140e+01] [ 1.20980319e-01 5.15555242e-04 9.92654772e-01 2.38645216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.32, Y:32.79, Z:23.85 [[ 9.02034688e-01 -4.17451558e-01 -1.09852707e-01 2.43315527e+02] [ 4.14363320e-01 9.08699156e-01 -5.06841461e-02 3.27879042e+01] [ 1.20981238e-01 1.99925365e-04 9.92654774e-01 2.38498811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62863999999996 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:243.37, Y:32.81, Z:23.88 [[ 9.01161601e-01 -4.19333907e-01 -1.09849182e-01 2.43368108e+02] [ 4.16258658e-01 9.07832073e-01 -5.06917864e-02 3.28089443e+01] [ 1.20981395e-01 -4.41815359e-05 9.92654774e-01 2.38793244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.43, Y:32.83, Z:23.86 [[ 9.01302130e-01 -4.19032670e-01 -1.09845769e-01 2.43425117e+02] [ 4.15954290e-01 9.07971157e-01 -5.06991805e-02 3.28332461e+01] [ 1.20981403e-01 4.46054906e-06 9.92654774e-01 2.38633571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:243.48, Y:32.86, Z:23.89 [[ 9.02497151e-01 -4.16453554e-01 -1.09842296e-01 2.43476695e+02] [ 4.13355201e-01 9.09156922e-01 -5.07067028e-02 3.28554104e+01] [ 1.20980871e-01 3.58770387e-04 9.92654774e-01 2.38928100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.53, Y:32.88, Z:23.88 [[ 9.03261657e-01 -4.14795698e-01 -1.09831269e-01 2.43533205e+02] [ 4.11682218e-01 9.09914370e-01 -5.07305780e-02 3.28812649e+01] [ 1.20979875e-01 6.07405794e-04 9.92654774e-01 2.38785779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.59, Y:32.91, Z:23.88 [[ 9.03468264e-01 -4.14346414e-01 -1.09827797e-01 2.43585477e+02] [ 4.11228712e-01 9.10118999e-01 -5.07380919e-02 3.29069091e+01] [ 1.20979511e-01 6.75912227e-04 9.92654774e-01 2.38847092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:243.64, Y:32.93, Z:23.91 [[ 9.03721963e-01 -4.13799218e-01 -1.09803552e-01 2.43636906e+02] [ 4.10671120e-01 9.10367813e-01 -5.07905090e-02 3.29305984e+01] [ 1.20978692e-01 8.07350923e-04 9.92654776e-01 2.39145985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98864 meters Centerline goodness : 0.998675 with order 1 Centerline is valid? [True, True] Translation: X:243.69, Y:32.96, Z:23.93 [[ 9.02577245e-01 -4.16290616e-01 -1.09801818e-01 2.43690379e+02] [ 4.13180407e-01 9.09231486e-01 -5.07942571e-02 3.29558734e+01] [ 1.20980442e-01 4.77780863e-04 9.92654776e-01 2.39288069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04864 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:243.74, Y:32.98, Z:23.93 [[ 9.02677827e-01 -4.16072945e-01 -1.09800020e-01 2.43744009e+02] [ 4.12960659e-01 9.09331096e-01 -5.07981429e-02 3.29825225e+01] [ 1.20980305e-01 5.11268690e-04 9.92654776e-01 2.39322426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10864 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:243.80, Y:33.01, Z:23.94 [[ 9.01724598e-01 -4.18135248e-01 -1.09798286e-01 2.43796715e+02] [ 4.15037722e-01 9.08384752e-01 -5.08018897e-02 3.30076991e+01] [ 1.20981150e-01 2.38882936e-04 9.92654776e-01 2.39365471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16864 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:243.85, Y:33.03, Z:23.94 [[ 9.00104494e-01 -4.21617959e-01 -1.09773387e-01 2.43850604e+02] [ 4.18539647e-01 9.06773548e-01 -5.08556363e-02 3.30308708e+01] [ 1.20981253e-01 -1.69127938e-04 9.92654778e-01 2.39443759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22864 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:243.90, Y:33.05, Z:23.95 [[ 8.98132299e-01 -4.25809339e-01 -1.09748713e-01 2.43903497e+02] [ 4.22755649e-01 9.04812661e-01 -5.09088298e-02 3.30525572e+01] [ 1.20979480e-01 -6.74023893e-04 9.92654779e-01 2.39513455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:243.96, Y:33.08, Z:23.94 [[ 8.96100391e-01 -4.30076064e-01 -1.09720864e-01 2.43961183e+02] [ 4.27046840e-01 9.02791881e-01 -5.09687796e-02 3.30759697e+01] [ 1.20975558e-01 -1.18280498e-03 9.92654782e-01 2.39364678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.02, Y:33.10, Z:23.95 [[ 8.96441826e-01 -4.29364812e-01 -1.09717418e-01 2.44015403e+02] [ 4.26329371e-01 9.03130497e-01 -5.09761971e-02 3.30977865e+01] [ 1.20976532e-01 -1.07856258e-03 9.92654782e-01 2.39455464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:244.07, Y:33.12, Z:23.97 [[ 8.98601146e-01 -4.24833255e-01 -1.09693603e-01 2.44066962e+02] [ 4.21757832e-01 9.05271526e-01 -5.10273921e-02 3.31208196e+01] [ 1.20980629e-01 -4.10863301e-04 9.92654783e-01 2.39731659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.12, Y:33.15, Z:23.96 [[ 8.98883975e-01 -4.24235383e-01 -1.09690194e-01 2.44122231e+02] [ 4.21154629e-01 9.05551896e-01 -5.10347196e-02 3.31468766e+01] [ 1.20980897e-01 -3.22241386e-04 9.92654783e-01 2.39600952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52864 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:244.17, Y:33.17, Z:23.99 [[ 8.98467633e-01 -4.25117776e-01 -1.09684955e-01 2.44174267e+02] [ 4.22042197e-01 9.05137941e-01 -5.10459776e-02 3.31698332e+01] [ 1.20980567e-01 -4.28520614e-04 9.92654783e-01 2.39884628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58864 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:244.23, Y:33.19, Z:23.99 [[ 8.96758468e-01 -4.28712279e-01 -1.09681503e-01 2.44228343e+02] [ 4.25662528e-01 9.03440625e-01 -5.10533926e-02 3.31930145e+01] [ 1.20977942e-01 -9.04743876e-04 9.92654783e-01 2.39949244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64864 meters Centerline goodness : 0.996276 with order 1 Centerline is valid? [True, True] Translation: X:244.28, Y:33.22, Z:24.01 [[ 8.98095678e-01 -4.25910199e-01 -1.09656991e-01 2.44280858e+02] [ 4.22833176e-01 9.04765319e-01 -5.11059892e-02 3.32202894e+01] [ 1.20980404e-01 -4.68545583e-04 9.92654785e-01 2.40095487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70863999999995 meters Centerline goodness : 0.998032 with order 1 Centerline is valid? [True, True] Translation: X:244.33, Y:33.25, Z:24.01 [[ 8.97794100e-01 -4.26546456e-01 -1.09653434e-01 2.44333954e+02] [ 4.23473228e-01 9.04465490e-01 -5.11136186e-02 3.32464053e+01] [ 1.20980080e-01 -5.45788621e-04 9.92654785e-01 2.40125467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.39, Y:33.27, Z:23.99 [[ 8.94286725e-01 -4.33853083e-01 -1.09648332e-01 2.44392321e+02] [ 4.30833016e-01 9.00982348e-01 -5.11245621e-02 3.32712604e+01] [ 1.20971760e-01 -1.52010423e-03 9.92654785e-01 2.39942354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.45, Y:33.29, Z:24.00 [[ 8.90934672e-01 -4.40695679e-01 -1.09648209e-01 2.44446086e+02] [ 4.37726995e-01 8.97653235e-01 -5.11248259e-02 3.32916601e+01] [ 1.20956559e-01 -2.44710095e-03 9.92654785e-01 2.40007526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88863999999995 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:244.50, Y:33.31, Z:24.03 [[ 8.90511332e-01 -4.41557148e-01 -1.09621411e-01 2.44498601e+02] [ 4.38587900e-01 8.97229644e-01 -5.11822217e-02 3.33125062e+01] [ 1.20955455e-01 -2.50027607e-03 9.92654787e-01 2.40319741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:244.56, Y:33.33, Z:24.02 [[ 8.89579114e-01 -4.43433056e-01 -1.09618089e-01 2.44557566e+02] [ 4.40477099e-01 8.96303284e-01 -5.11893351e-02 3.33348506e+01] [ 1.20950097e-01 -2.74729458e-03 9.92654787e-01 2.40167304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00863999999996 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:244.61, Y:33.35, Z:24.05 [[ 8.90513838e-01 -4.41552917e-01 -1.09618089e-01 2.44612152e+02] [ 4.38582762e-01 8.97231750e-01 -5.11893351e-02 3.33535861e+01] [ 1.20955630e-01 -2.49179311e-03 9.92654787e-01 2.40466407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.67, Y:33.37, Z:24.03 [[ 8.90767882e-01 -4.41040452e-01 -1.09617059e-01 2.44671420e+02] [ 4.38066162e-01 8.97483963e-01 -5.11915412e-02 3.33739870e+01] [ 1.20957093e-01 -2.41974353e-03 9.92654787e-01 2.40307743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12863999999996 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:244.72, Y:33.40, Z:24.06 [[ 8.92300356e-01 -4.37931853e-01 -1.09616452e-01 2.44723936e+02] [ 4.34934003e-01 8.99005954e-01 -5.11928402e-02 3.33966414e+01] [ 1.20964819e-01 -1.99653293e-03 9.92654787e-01 2.40592090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18863999999996 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:244.78, Y:33.42, Z:24.07 [[ 8.93950534e-01 -4.34553845e-01 -1.09614776e-01 2.44776707e+02] [ 4.31530214e-01 9.00644547e-01 -5.11964297e-02 3.34212972e+01] [ 1.20971555e-01 -1.53501206e-03 9.92654787e-01 2.40650436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24863999999997 meters Centerline goodness : 0.999214 with order 1 Centerline is valid? [True, True] Translation: X:244.83, Y:33.45, Z:24.07 [[ 8.96035147e-01 -4.30245128e-01 -1.09590808e-01 2.44829274e+02] [ 4.27183037e-01 9.02711653e-01 -5.12476849e-02 3.34479302e+01] [ 1.20977966e-01 -8.95607187e-04 9.92654789e-01 2.40708414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:244.88, Y:33.47, Z:24.06 [[ 8.96481855e-01 -4.29319784e-01 -1.09566445e-01 2.44884527e+02] [ 4.26244442e-01 9.03152265e-01 -5.12997196e-02 3.34741204e+01] [ 1.20979167e-01 -7.12820306e-04 9.92654790e-01 2.40574559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:244.94, Y:33.50, Z:24.06 [[ 8.96950536e-01 -4.28346117e-01 -1.09541500e-01 2.44936756e+02] [ 4.25257034e-01 9.03614592e-01 -5.13529293e-02 3.34988102e+01] [ 1.20980126e-01 -5.22256219e-04 9.92654792e-01 2.40649120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42864 meters Centerline goodness : 0.995778 with order 1 Centerline is valid? [True, True] Translation: X:244.99, Y:33.52, Z:24.10 [[ 8.97111662e-01 -4.28015697e-01 -1.09513600e-01 2.44986835e+02] [ 4.24916904e-01 9.03771207e-01 -5.14123604e-02 3.35227905e+01] [ 1.20980536e-01 -4.11551812e-04 9.92654794e-01 2.41037863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48864 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:245.04, Y:33.55, Z:24.10 [[ 8.97741645e-01 -4.26693292e-01 -1.09511519e-01 2.45041973e+02] [ 4.23584148e-01 9.04396364e-01 -5.14167931e-02 3.35492148e+01] [ 1.20981020e-01 -2.28347059e-04 9.92654794e-01 2.41014205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54864 meters Centerline goodness : 0.995875 with order 1 Centerline is valid? [True, True] Translation: X:245.10, Y:33.57, Z:24.12 [[ 8.95963081e-01 -4.30415332e-01 -1.09511638e-01 2.45096773e+02] [ 4.27333864e-01 9.02630660e-01 -5.14165407e-02 3.35711554e+01] [ 1.20979029e-01 -7.30708964e-04 9.92654794e-01 2.41182861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:245.16, Y:33.59, Z:24.09 [[ 8.92886934e-01 -4.36761918e-01 -1.09507762e-01 2.45156498e+02] [ 4.33726826e-01 8.99575751e-01 -5.14247939e-02 3.35928758e+01] [ 1.20970919e-01 -1.57992732e-03 9.92654794e-01 2.40937862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.21, Y:33.61, Z:24.10 [[ 8.92281029e-01 -4.37999035e-01 -1.09505301e-01 2.45211223e+02] [ 4.34972574e-01 8.98973755e-01 -5.14300329e-02 3.36107091e+01] [ 1.20968697e-01 -1.74176010e-03 9.92654794e-01 2.41014388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72864 meters Centerline goodness : 0.998379 with order 1 Centerline is valid? [True, True] Translation: X:245.26, Y:33.63, Z:24.13 [[ 8.94125844e-01 -4.34227572e-01 -1.09477810e-01 2.45264830e+02] [ 4.31165721e-01 9.00802451e-01 -5.14884875e-02 3.36308669e+01] [ 1.20975600e-01 -1.16589141e-03 9.92654796e-01 2.41314085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.32, Y:33.66, Z:24.12 [[ 8.94501349e-01 -4.33454533e-01 -1.09473761e-01 2.45322029e+02] [ 4.30385859e-01 9.01174823e-01 -5.14970949e-02 3.36553545e+01] [ 1.20976646e-01 -1.05173772e-03 9.92654796e-01 2.41159108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:245.37, Y:33.68, Z:24.14 [[ 8.97890932e-01 -4.26389206e-01 -1.09472006e-01 2.45374369e+02] [ 4.23267561e-01 9.04539793e-01 -5.15008246e-02 3.36771429e+01] [ 1.20981181e-01 -9.38257047e-05 9.92654796e-01 2.41435285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90864 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:245.43, Y:33.70, Z:24.15 [[ 8.99745224e-01 -4.22463224e-01 -1.09468518e-01 2.45428788e+02] [ 4.19311665e-01 9.06379958e-01 -5.15082384e-02 3.36996176e+01] [ 1.20980407e-01 4.42864988e-04 9.92654796e-01 2.41502301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96864 meters Centerline goodness : 0.997739 with order 1 Centerline is valid? [True, True] Translation: X:245.48, Y:33.72, Z:24.16 [[ 9.01375150e-01 -4.18980920e-01 -1.09443262e-01 2.45482439e+02] [ 4.15797221e-01 9.07994519e-01 -5.15618468e-02 3.37239899e+01] [ 1.20977312e-01 9.70363397e-04 9.92654798e-01 2.41635244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02864 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:245.54, Y:33.75, Z:24.16 [[ 9.04583322e-01 -4.12009187e-01 -1.09441505e-01 2.45536233e+02] [ 4.08774026e-01 9.11177692e-01 -5.15655741e-02 3.37505514e+01] [ 1.20966149e-01 1.90851354e-03 9.92654798e-01 2.41647239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08864 meters Centerline goodness : 0.998382 with order 1 Centerline is valid? [True, True] Translation: X:245.59, Y:33.78, Z:24.18 [[ 9.06808248e-01 -4.07089485e-01 -1.09439264e-01 2.45588149e+02] [ 4.03817978e-01 9.13384663e-01 -5.15703309e-02 3.37796761e+01] [ 1.20953885e-01 2.57085921e-03 9.92654798e-01 2.41765848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14864 meters Centerline goodness : 0.998528 with order 1 Centerline is valid? [True, True] Translation: X:245.64, Y:33.81, Z:24.18 [[ 9.08725301e-01 -4.02792446e-01 -1.09437532e-01 2.45639737e+02] [ 3.99489403e-01 9.15285933e-01 -5.15740059e-02 3.38084297e+01] [ 1.20940254e-01 3.14746970e-03 9.92654798e-01 2.41823528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.70, Y:33.83, Z:24.17 [[ 9.07473031e-01 -4.05607273e-01 -1.09432345e-01 2.45696696e+02] [ 4.02323255e-01 9.14043207e-01 -5.15850095e-02 3.38329892e+01] [ 1.20949147e-01 2.78482769e-03 9.92654798e-01 2.41669810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:245.75, Y:33.86, Z:24.18 [[ 9.07623898e-01 -4.05270503e-01 -1.09428876e-01 2.45749317e+02] [ 4.01983162e-01 9.14192412e-01 -5.15923683e-02 3.38582455e+01] [ 1.20947913e-01 2.83790111e-03 9.92654798e-01 2.41758194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32863999999995 meters Centerline goodness : 0.998084 with order 1 Centerline is valid? [True, True] Translation: X:245.80, Y:33.89, Z:24.21 [[ 9.10895968e-01 -3.97868261e-01 -1.09404671e-01 2.45798402e+02] [ 3.94521404e-01 9.17434355e-01 -5.16436449e-02 3.38852744e+01] [ 1.20918971e-01 3.87950354e-03 9.92654800e-01 2.42066189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.85, Y:33.91, Z:24.19 [[ 9.11299319e-01 -3.96949667e-01 -1.09382414e-01 2.45853623e+02] [ 3.93590572e-01 9.17831427e-01 -5.16907431e-02 3.39128218e+01] [ 1.20913240e-01 4.05385206e-03 9.92654801e-01 2.41899342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:245.90, Y:33.94, Z:24.20 [[ 9.10216518e-01 -3.99427688e-01 -1.09377386e-01 2.45904757e+02] [ 3.96085102e-01 9.16757088e-01 -5.17013814e-02 3.39405229e+01] [ 1.20923457e-01 3.73669837e-03 9.92654801e-01 2.41982902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50863999999996 meters Centerline goodness : 0.906176 with order 3 Centerline is valid? [True, False] Translation: X:245.93, Y:33.94, Z:24.20 [[ 9.19530087e-01 -3.74839970e-01 -1.18149976e-01 2.45926432e+02] [ 3.73044511e-01 9.27042789e-01 -3.78082143e-02 3.39442977e+01] [ 1.23702113e-01 -9.30940931e-03 9.92275729e-01 2.42039277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56863999999996 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [False, True] Translation: X:245.95, Y:33.95, Z:24.21 [[ 9.28092640e-01 -3.50178721e-01 -1.26565849e-01 2.45946978e+02] [ 3.50007667e-01 9.36430963e-01 -2.43245499e-02 3.39490135e+01] [ 1.27038120e-01 -2.17235817e-02 9.91659923e-01 2.42108060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:245.99, Y:34.00, Z:24.20 [[ 9.28157193e-01 -3.53401305e-01 -1.16755053e-01 2.45992550e+02] [ 3.50120207e-01 9.35463857e-01 -4.81997134e-02 3.39979725e+01] [ 1.26253974e-01 3.85860728e-03 9.91990446e-01 2.41985736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:246.04, Y:34.03, Z:24.20 [[ 9.27663931e-01 -3.54701436e-01 -1.16732697e-01 2.46043618e+02] [ 3.51423779e-01 9.34972138e-01 -4.82537973e-02 3.40268172e+01] [ 1.26257510e-01 3.74066175e-03 9.91990448e-01 2.42049436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74863999999997 meters Centerline goodness : 0.998576 with order 1 Centerline is valid? [True, True] Translation: X:246.09, Y:34.05, Z:24.23 [[ 9.25997582e-01 -3.59036395e-01 -1.16710520e-01 2.46092853e+02] [ 3.55786207e-01 9.33318045e-01 -4.83073778e-02 3.40547754e+01] [ 1.26272141e-01 3.20852191e-03 9.91990449e-01 2.42327729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80863999999997 meters Centerline goodness : 0.997693 with order 1 Centerline is valid? [True, True] Translation: X:246.15, Y:34.08, Z:24.25 [[ 9.24119101e-01 -3.63850907e-01 -1.16689348e-01 2.46145890e+02] [ 3.60632414e-01 9.31453553e-01 -4.83584651e-02 3.40784838e+01] [ 1.26285979e-01 2.60702000e-03 9.91990451e-01 2.42451570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:246.20, Y:34.11, Z:24.23 [[ 9.21340438e-01 -3.70837347e-01 -1.16668163e-01 2.46201290e+02] [ 3.67668013e-01 9.28696264e-01 -4.84095231e-02 3.41059729e+01] [ 1.26301346e-01 1.70649952e-03 9.91990453e-01 2.42292993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92864 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:246.25, Y:34.13, Z:24.25 [[ 9.20460041e-01 -3.73018772e-01 -1.16663223e-01 2.46253582e+02] [ 3.69865364e-01 9.27822708e-01 -4.84214245e-02 3.41261165e+01] [ 1.26304888e-01 1.42030094e-03 9.91990453e-01 2.42545518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98864 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:246.31, Y:34.15, Z:24.26 [[ 9.19580851e-01 -3.75188208e-01 -1.16639905e-01 2.46307019e+02] [ 3.72045053e-01 9.26947899e-01 -4.84775296e-02 3.41472078e+01] [ 1.26307312e-01 1.18370827e-03 9.91990454e-01 2.42633963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04864 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:246.36, Y:34.17, Z:24.27 [[ 9.19100869e-01 -3.76370855e-01 -1.16612920e-01 2.46361500e+02] [ 3.73228954e-01 9.26468449e-01 -4.85423565e-02 3.41668178e+01] [ 1.26308119e-01 1.09200386e-03 9.91990457e-01 2.42710003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10864 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:246.42, Y:34.19, Z:24.28 [[ 9.18615118e-01 -3.77557484e-01 -1.16604513e-01 2.46415363e+02] [ 3.74422538e-01 9.25985660e-01 -4.85625438e-02 3.41882690e+01] [ 1.26309258e-01 9.50929347e-04 9.91990457e-01 2.42778603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.47, Y:34.21, Z:24.26 [[ 9.16950279e-01 -3.81590268e-01 -1.16580671e-01 2.46473793e+02] [ 3.78480470e-01 9.24331465e-01 -4.86197117e-02 3.42057034e+01] [ 1.26311991e-01 4.58350986e-04 9.91990459e-01 2.42644706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:246.53, Y:34.22, Z:24.29 [[ 9.16668080e-01 -3.82270269e-01 -1.16572175e-01 2.46526453e+02] [ 3.79163358e-01 9.24050481e-01 -4.86400742e-02 3.42236680e+01] [ 1.26312229e-01 3.86906178e-04 9.91990459e-01 2.42931373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:246.58, Y:34.24, Z:24.30 [[ 9.16964630e-01 -3.81560410e-01 -1.16565518e-01 2.46583797e+02] [ 3.78445756e-01 9.24343768e-01 -4.86560231e-02 3.42376732e+01] [ 1.26311822e-01 5.02126734e-04 9.91990459e-01 2.43016228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34864 meters Centerline goodness : 0.997547 with order 1 Centerline is valid? [True, True] Translation: X:246.64, Y:34.26, Z:24.32 [[ 9.16959459e-01 -3.81580179e-01 -1.16541481e-01 2.46639467e+02] [ 3.78458375e-01 9.24335573e-01 -4.87135274e-02 3.42559860e+01] [ 1.26311554e-01 5.62230079e-04 9.91990461e-01 2.43184989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40864 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:246.70, Y:34.28, Z:24.32 [[ 9.18625440e-01 -3.77552782e-01 -1.16538398e-01 2.46697011e+02] [ 3.74397705e-01 9.25987382e-01 -4.87209024e-02 3.42758982e+01] [ 1.26307799e-01 1.12455144e-03 9.91990461e-01 2.43189705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.75, Y:34.30, Z:24.30 [[ 9.20871059e-01 -3.72042600e-01 -1.16536674e-01 2.46754595e+02] [ 3.68842953e-01 9.28213740e-01 -4.87250261e-02 3.42978784e+01] [ 1.26298728e-01 1.88573542e-03 9.91990461e-01 2.43037433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:246.81, Y:34.32, Z:24.31 [[ 9.21632855e-01 -3.70153035e-01 -1.16531584e-01 2.46808230e+02] [ 3.66936796e-01 9.28968284e-01 -4.87371964e-02 3.43186572e+01] [ 1.26294367e-01 2.15807532e-03 9.91990461e-01 2.43128629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:246.86, Y:34.34, Z:24.34 [[ 9.21411989e-01 -3.70710745e-01 -1.16505324e-01 2.46860274e+02] [ 3.67491021e-01 9.28745886e-01 -4.87998919e-02 3.43398195e+01] [ 1.26294484e-01 2.15014524e-03 9.91990464e-01 2.43426449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64864 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:246.91, Y:34.36, Z:24.35 [[ 9.20781667e-01 -3.72280287e-01 -1.16483945e-01 2.46914565e+02] [ 3.69066617e-01 9.28118217e-01 -4.88508700e-02 3.43618473e+01] [ 1.26297087e-01 1.99065016e-03 9.91990465e-01 2.43506981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:246.97, Y:34.39, Z:24.34 [[ 9.20222783e-01 -3.73666930e-01 -1.16460532e-01 2.46971313e+02] [ 3.70457260e-01 9.27561082e-01 -4.89066225e-02 3.43869747e+01] [ 1.26299045e-01 1.86133858e-03 9.91990467e-01 2.43356174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.02, Y:34.41, Z:24.34 [[ 9.21288265e-01 -3.71032819e-01 -1.16458493e-01 2.47024950e+02] [ 3.67801555e-01 9.28617081e-01 -4.89114772e-02 3.44109671e+01] [ 1.26293109e-01 2.22795506e-03 9.91990467e-01 2.43427092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.08, Y:34.43, Z:24.35 [[ 9.21560170e-01 -3.70364275e-01 -1.16435203e-01 2.47078010e+02] [ 3.67120699e-01 9.28883544e-01 -4.89668582e-02 3.44348051e+01] [ 1.26290319e-01 2.38013304e-03 9.91990469e-01 2.43498943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88863999999995 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:247.13, Y:34.46, Z:24.38 [[ 9.20519560e-01 -3.72950337e-01 -1.16412134e-01 2.47128972e+02] [ 3.69720410e-01 9.27848962e-01 -4.90216406e-02 3.44579627e+01] [ 1.26295515e-01 2.08543713e-03 9.91990471e-01 2.43782809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94863999999995 meters Centerline goodness : 0.999212 with order 1 Centerline is valid? [True, True] Translation: X:247.18, Y:34.48, Z:24.39 [[ 9.19614462e-01 -3.75183230e-01 -1.16390658e-01 2.47181948e+02] [ 3.71964654e-01 9.26948854e-01 -4.90725771e-02 3.44814549e+01] [ 1.26299395e-01 1.83464059e-03 9.91990472e-01 2.43858179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.24, Y:34.51, Z:24.37 [[ 9.19291516e-01 -3.75981161e-01 -1.16366986e-01 2.47237692e+02] [ 3.72761855e-01 9.26625585e-01 -4.91286475e-02 3.45080071e+01] [ 1.26300073e-01 1.78637509e-03 9.91990474e-01 2.43708793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.29, Y:34.53, Z:24.38 [[ 9.19502311e-01 -3.75466912e-01 -1.16361926e-01 2.47289494e+02] [ 3.72241989e-01 9.26833912e-01 -4.91406299e-02 3.45330686e+01] [ 1.26298860e-01 1.87012794e-03 9.91990474e-01 2.43785748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.34, Y:34.56, Z:24.39 [[ 9.18960045e-01 -3.76800520e-01 -1.16334874e-01 2.47341809e+02] [ 3.73578140e-01 9.26292762e-01 -4.92045915e-02 3.45588615e+01] [ 1.26300467e-01 1.75688788e-03 9.91990476e-01 2.43859064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.40, Y:34.58, Z:24.39 [[ 9.17793342e-01 -3.79640723e-01 -1.16311230e-01 2.47395142e+02] [ 3.76433962e-01 9.25132901e-01 -4.92604171e-02 3.45819053e+01] [ 1.26304606e-01 1.42738565e-03 9.91990478e-01 2.43932628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24863999999997 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:247.45, Y:34.61, Z:24.42 [[ 9.17626855e-01 -3.80050214e-01 -1.16287530e-01 2.47445853e+02] [ 3.76839646e-01 9.24964747e-01 -4.93163035e-02 3.46061413e+01] [ 1.26304537e-01 1.43221283e-03 9.91990480e-01 2.44211957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30863999999997 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:247.50, Y:34.63, Z:24.43 [[ 9.17088409e-01 -3.81354382e-01 -1.16265580e-01 2.47499852e+02] [ 3.78147696e-01 9.24427997e-01 -4.93679969e-02 3.46282458e+01] [ 1.26305859e-01 1.30925642e-03 9.91990482e-01 2.44309611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:247.55, Y:34.65, Z:24.44 [[ 9.15112180e-01 -3.86074608e-01 -1.16258740e-01 2.47554636e+02] [ 3.82903736e-01 9.22467311e-01 -4.93840996e-02 3.46502340e+01] [ 1.26310834e-01 6.76085095e-04 9.91990482e-01 2.44355975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:247.61, Y:34.67, Z:24.44 [[ 9.13489965e-01 -3.89899621e-01 -1.16251322e-01 2.47608262e+02] [ 3.86757325e-01 9.20857349e-01 -4.94015570e-02 3.46701771e+01] [ 1.26312532e-01 1.66776340e-04 9.91990482e-01 2.44426867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.67, Y:34.69, Z:24.43 [[ 9.10341504e-01 -3.97203288e-01 -1.16223469e-01 2.47668687e+02] [ 3.94111743e-01 9.17730325e-01 -4.94669975e-02 3.46854074e+01] [ 1.26310256e-01 -7.73173208e-04 9.91990485e-01 2.44299898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:247.72, Y:34.70, Z:24.46 [[ 9.09687736e-01 -3.98699293e-01 -1.16220035e-01 2.47723549e+02] [ 3.95618868e-01 9.17081201e-01 -4.94750651e-02 3.47006852e+01] [ 1.26308883e-01 -9.71978761e-04 9.91990485e-01 2.44610381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.78, Y:34.72, Z:24.45 [[ 9.11599259e-01 -3.94310512e-01 -1.16215364e-01 2.47784301e+02] [ 3.91193092e-01 9.18977202e-01 -4.94860340e-02 3.47162872e+01] [ 1.26312134e-01 -3.51215745e-04 9.91990485e-01 2.44463194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66864 meters Centerline goodness : 0.999312 with order 1 Centerline is valid? [True, True] Translation: X:247.84, Y:34.73, Z:24.47 [[ 9.13800535e-01 -3.89182937e-01 -1.16211976e-01 2.47838551e+02] [ 3.86023105e-01 9.21160413e-01 -4.94939900e-02 3.47307108e+01] [ 1.26312088e-01 3.67126763e-04 9.91990485e-01 2.44725794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:247.90, Y:34.75, Z:24.46 [[ 9.14195850e-01 -3.88261584e-01 -1.16184726e-01 2.47895625e+02] [ 3.85086215e-01 9.21549035e-01 -4.95578752e-02 3.47505198e+01] [ 1.26311342e-01 5.64467328e-04 9.91990487e-01 2.44618340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78864 meters Centerline goodness : 0.997889 with order 1 Centerline is valid? [True, True] Translation: X:247.95, Y:34.77, Z:24.49 [[ 9.16044811e-01 -3.83887272e-01 -1.16157081e-01 2.47947376e+02] [ 3.80668585e-01 9.23379135e-01 -4.96225880e-02 3.47703415e+01] [ 1.26306505e-01 1.23916243e-03 9.91990489e-01 2.44902334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:248.00, Y:34.79, Z:24.48 [[ 9.16916278e-01 -3.81808382e-01 -1.16133102e-01 2.48004467e+02] [ 3.78565968e-01 9.24240142e-01 -4.96786435e-02 3.47914281e+01] [ 1.26302598e-01 1.58711660e-03 9.91990491e-01 2.44765667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:248.06, Y:34.82, Z:24.48 [[ 9.19673984e-01 -3.75124419e-01 -1.16109579e-01 2.48055544e+02] [ 3.71821852e-01 9.26970918e-01 -4.97335634e-02 3.48174428e+01] [ 1.26286477e-01 2.56658581e-03 9.91990493e-01 2.44848973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96864 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:248.10, Y:34.85, Z:24.52 [[ 9.22216804e-01 -3.68837356e-01 -1.16082607e-01 2.48103344e+02] [ 3.65477144e-01 9.29487371e-01 -4.97964399e-02 3.48460545e+01] [ 1.26264104e-01 3.49757418e-03 9.91990495e-01 2.45159007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02864 meters Centerline goodness : 0.998086 with order 1 Centerline is valid? [True, True] Translation: X:248.15, Y:34.88, Z:24.53 [[ 9.22288600e-01 -3.68665037e-01 -1.16059587e-01 2.48152204e+02] [ 3.65296728e-01 9.29555418e-01 -4.98500331e-02 3.48793714e+01] [ 1.26261783e-01 3.57992966e-03 9.91990497e-01 2.45257386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.21, Y:34.91, Z:24.51 [[ 9.21478232e-01 -3.70687957e-01 -1.16053031e-01 2.48207465e+02] [ 3.67333682e-01 9.28751538e-01 -4.98652911e-02 3.49109038e+01] [ 1.26268894e-01 3.31959300e-03 9.91990497e-01 2.45092864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14864 meters Centerline goodness : 0.997743 with order 1 Centerline is valid? [True, True] Translation: X:248.25, Y:34.94, Z:24.54 [[ 9.19393423e-01 -3.75828987e-01 -1.16053031e-01 2.48254557e+02] [ 3.72515388e-01 9.26685350e-01 -4.98652911e-02 3.49449350e+01] [ 1.26285466e-01 2.61428066e-03 9.91990497e-01 2.45405912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20863999999995 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:248.30, Y:34.98, Z:24.55 [[ 9.16027946e-01 -3.83959481e-01 -1.16051364e-01 2.48304231e+02] [ 3.80710123e-01 9.23348725e-01 -4.98691711e-02 3.49764297e+01] [ 1.26303620e-01 1.49962524e-03 9.91990497e-01 2.45486745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:248.36, Y:35.01, Z:24.53 [[ 9.14159430e-01 -3.88394253e-01 -1.16027760e-01 2.48358546e+02] [ 3.85173448e-01 9.21492814e-01 -4.99240290e-02 3.50085251e+01] [ 1.26308953e-01 9.47709466e-04 9.91990499e-01 2.45306524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32863999999995 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:248.41, Y:35.04, Z:24.56 [[ 9.12317197e-01 -3.92702551e-01 -1.16026024e-01 2.48406782e+02] [ 3.89515865e-01 9.19665471e-01 -4.99280641e-02 3.50383284e+01] [ 1.26312006e-01 3.56254459e-04 9.91990499e-01 2.45588179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38863999999995 meters Centerline goodness : 0.996913 with order 1 Centerline is valid? [True, True] Translation: X:248.46, Y:35.06, Z:24.57 [[ 9.10304223e-01 -3.97353365e-01 -1.16002260e-01 2.48459821e+02] [ 3.94197193e-01 9.17665653e-01 -4.99832157e-02 3.50647359e+01] [ 1.26312289e-01 -2.27833059e-04 9.91990501e-01 2.45721606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44863999999995 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:248.51, Y:35.09, Z:24.58 [[ 9.08812775e-01 -4.00753308e-01 -1.16000544e-01 2.48512761e+02] [ 3.97624166e-01 9.16185736e-01 -4.99871987e-02 3.50914002e+01] [ 1.26310579e-01 -6.95614800e-04 9.91990501e-01 2.45756085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50863999999996 meters Centerline goodness : 0.998627 with order 1 Centerline is valid? [True, True] Translation: X:248.57, Y:35.12, Z:24.58 [[ 9.07994478e-01 -4.02605353e-01 -1.15995504e-01 2.48565244e+02] [ 3.99489756e-01 9.15373173e-01 -4.99988907e-02 3.51163495e+01] [ 1.26308994e-01 -9.40299027e-04 9.91990501e-01 2.45834427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56863999999996 meters Centerline goodness : 0.997792 with order 1 Centerline is valid? [True, True] Translation: X:248.62, Y:35.14, Z:24.59 [[ 9.05674298e-01 -4.07804628e-01 -1.15971768e-01 2.48618868e+02] [ 4.04724346e-01 9.13067803e-01 -5.00538862e-02 3.51383312e+01] [ 1.26302294e-01 -1.60407980e-03 9.91990503e-01 2.45932391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:248.68, Y:35.16, Z:24.57 [[ 9.04875798e-01 -4.09579979e-01 -1.15948402e-01 2.48677330e+02] [ 4.06507275e-01 9.12272453e-01 -5.01079562e-02 3.51611514e+01] [ 1.26299748e-01 -1.79239201e-03 9.91990504e-01 2.45747375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:248.73, Y:35.18, Z:24.58 [[ 9.02528864e-01 -4.14726414e-01 -1.15946759e-01 2.48731575e+02] [ 4.11695394e-01 9.09942699e-01 -5.01117580e-02 3.51812579e+01] [ 1.26287576e-01 -2.50743831e-03 9.91990504e-01 2.45832528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74863999999997 meters Centerline goodness : 0.997888 with order 1 Centerline is valid? [True, True] Translation: X:248.79, Y:35.20, Z:24.61 [[ 9.00771476e-01 -4.18536017e-01 -1.15923899e-01 2.48785188e+02] [ 4.15529554e-01 9.08195301e-01 -5.01645836e-02 3.51990590e+01] [ 1.26277226e-01 -2.98298007e-03 9.91990506e-01 2.46146160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80863999999997 meters Centerline goodness : 0.998284 with order 1 Centerline is valid? [True, True] Translation: X:248.84, Y:35.22, Z:24.62 [[ 9.01152364e-01 -4.17716193e-01 -1.15920660e-01 2.48841438e+02] [ 4.14702014e-01 9.08573059e-01 -5.01720671e-02 3.52170602e+01] [ 1.26280074e-01 -2.85985436e-03 9.91990506e-01 2.46197717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86863999999997 meters Centerline goodness : 0.998037 with order 1 Centerline is valid? [True, True] Translation: X:248.90, Y:35.23, Z:24.63 [[ 9.02843698e-01 -4.14054331e-01 -1.15897660e-01 2.48898017e+02] [ 4.11003239e-01 9.10249291e-01 -5.02251425e-02 3.52329665e+01] [ 1.26291700e-01 -2.28886020e-03 9.91990508e-01 2.46266198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92864 meters Centerline goodness : 0.997940 with order 1 Centerline is valid? [True, True] Translation: X:248.95, Y:35.25, Z:24.63 [[ 9.04638894e-01 -4.10123858e-01 -1.15874472e-01 2.48953671e+02] [ 4.07033743e-01 9.12028287e-01 -5.02785829e-02 3.52512518e+01] [ 1.26301243e-01 -1.68085847e-03 9.91990509e-01 2.46336151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98864 meters Centerline goodness : 0.997987 with order 1 Centerline is valid? [True, True] Translation: X:249.01, Y:35.27, Z:24.64 [[ 9.05692914e-01 -4.07797682e-01 -1.15850745e-01 2.49009516e+02] [ 4.04681603e-01 9.13071394e-01 -5.03331943e-02 3.52695910e+01] [ 1.26305762e-01 -1.29624790e-03 9.91990511e-01 2.46415422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04864 meters Centerline goodness : 0.998177 with order 1 Centerline is valid? [True, True] Translation: X:249.06, Y:35.29, Z:24.65 [[ 9.07357091e-01 -4.04088165e-01 -1.15826871e-01 2.49063353e+02] [ 4.00934913e-01 9.14719759e-01 -5.03880746e-02 3.52904267e+01] [ 1.26310352e-01 -7.19059776e-04 9.91990513e-01 2.46477250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10864 meters Centerline goodness : 0.997937 with order 1 Centerline is valid? [True, True] Translation: X:249.12, Y:35.32, Z:24.65 [[ 9.09538012e-01 -3.99163051e-01 -1.15799242e-01 2.49115972e+02] [ 3.95961853e-01 9.16879958e-01 -5.04514921e-02 3.53157003e+01] [ 1.26312375e-01 3.54674753e-05 9.91990515e-01 2.46541047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16864 meters Centerline goodness : 0.997054 with order 1 Centerline is valid? [True, True] Translation: X:249.17, Y:35.35, Z:24.66 [[ 9.12024463e-01 -3.93455938e-01 -1.15774799e-01 2.49165899e+02] [ 3.90201685e-01 9.19343045e-01 -5.05075211e-02 3.53450131e+01] [ 1.26309240e-01 8.88573200e-04 9.91990517e-01 2.46640025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.22, Y:35.38, Z:24.65 [[ 9.13172453e-01 -3.90792528e-01 -1.15746578e-01 2.49218122e+02] [ 3.87508743e-01 9.20477830e-01 -5.05721133e-02 3.53795693e+01] [ 1.26305363e-01 1.32825008e-03 9.91990520e-01 2.46500409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28864 meters Centerline goodness : 0.998329 with order 1 Centerline is valid? [True, True] Translation: X:249.27, Y:35.41, Z:24.68 [[ 9.12142922e-01 -3.93190575e-01 -1.15743084e-01 2.49266582e+02] [ 3.89924982e-01 9.19456449e-01 -5.05801074e-02 3.54088483e+01] [ 1.26308347e-01 1.00516692e-03 9.91990520e-01 2.46757763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34864 meters Centerline goodness : 0.998422 with order 1 Centerline is valid? [True, True] Translation: X:249.32, Y:35.44, Z:24.68 [[ 9.08925346e-01 -4.00579506e-01 -1.15718515e-01 2.49315517e+02] [ 3.97366219e-01 9.16262003e-01 -5.06362562e-02 3.54405222e+01] [ 1.26312325e-01 4.19480556e-05 9.91990522e-01 2.46820790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40864 meters Centerline goodness : 0.998283 with order 1 Centerline is valid? [True, True] Translation: X:249.37, Y:35.47, Z:24.69 [[ 9.07187998e-01 -4.04506799e-01 -1.15690043e-01 2.49368688e+02] [ 4.01316986e-01 9.14534889e-01 -5.07012231e-02 3.54654635e+01] [ 1.26311570e-01 -4.32838474e-04 9.91990524e-01 2.46894621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46864 meters Centerline goodness : 0.998139 with order 1 Centerline is valid? [True, True] Translation: X:249.42, Y:35.49, Z:24.70 [[ 9.04441621e-01 -4.10617679e-01 -1.15665361e-01 2.49420697e+02] [ 4.07470309e-01 9.11806792e-01 -5.07574695e-02 3.54885401e+01] [ 1.26306376e-01 -1.22303242e-03 9.91990526e-01 2.46979073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:249.48, Y:35.51, Z:24.68 [[ 9.01666144e-01 -4.16684773e-01 -1.15637210e-01 2.49477938e+02] [ 4.13578744e-01 9.09048841e-01 -5.08215237e-02 3.55089125e+01] [ 1.26296427e-01 -2.00104478e-03 9.91990528e-01 2.46840041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:249.53, Y:35.53, Z:24.69 [[ 9.00670033e-01 -4.18835887e-01 -1.15628675e-01 2.49532164e+02] [ 4.15744998e-01 9.08059082e-01 -5.08409346e-02 3.55310399e+01] [ 1.26291677e-01 -2.28113710e-03 9.91990529e-01 2.46904143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64864 meters Centerline goodness : 0.997883 with order 1 Centerline is valid? [True, True] Translation: X:249.58, Y:35.55, Z:24.72 [[ 9.01401381e-01 -4.17266014e-01 -1.15605464e-01 2.49584192e+02] [ 4.14155495e-01 9.08782186e-01 -5.08936591e-02 3.55497757e+01] [ 1.26296381e-01 -2.00302367e-03 9.91990530e-01 2.47206554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:249.64, Y:35.57, Z:24.71 [[ 9.00565231e-01 -4.19073752e-01 -1.15583105e-01 2.49640178e+02] [ 4.15971539e-01 9.07949529e-01 -5.09443886e-02 3.55745751e+01] [ 1.26293082e-01 -2.20053699e-03 9.91990532e-01 2.47072085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.69, Y:35.59, Z:24.71 [[ 8.99725085e-01 -4.20875829e-01 -1.15578146e-01 2.49694193e+02] [ 4.17786961e-01 9.07114975e-01 -5.09556374e-02 3.55948069e+01] [ 1.26288663e-01 -2.44097706e-03 9.91990532e-01 2.47135464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82863999999995 meters Centerline goodness : 0.997744 with order 1 Centerline is valid? [True, True] Translation: X:249.75, Y:35.61, Z:24.74 [[ 8.98519550e-01 -4.23450620e-01 -1.15551680e-01 2.49746985e+02] [ 4.20375221e-01 9.05915053e-01 -5.10155837e-02 3.56124897e+01] [ 1.26282587e-01 -2.73656376e-03 9.91990534e-01 2.47406516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:249.81, Y:35.63, Z:24.73 [[ 8.96862730e-01 -4.26955651e-01 -1.15525389e-01 2.49805487e+02] [ 4.23901496e-01 9.04267030e-01 -5.10750512e-02 3.56297948e+01] [ 1.26272582e-01 -3.16407542e-03 9.91990536e-01 2.47292168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.86, Y:35.65, Z:24.74 [[ 8.97427710e-01 -4.25773059e-01 -1.15502412e-01 2.49860914e+02] [ 4.22702470e-01 9.04825207e-01 -5.11269597e-02 3.56492649e+01] [ 1.26277976e-01 -2.94040445e-03 9.91990538e-01 2.47371163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:249.92, Y:35.67, Z:24.74 [[ 8.99903395e-01 -4.20521527e-01 -1.15479542e-01 2.49915679e+02] [ 4.17401141e-01 9.07280024e-01 -5.11785644e-02 3.56686336e+01] [ 1.26293970e-01 -2.14552868e-03 9.91990539e-01 2.47438252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:249.97, Y:35.69, Z:24.75 [[ 9.01016103e-01 -4.18134395e-01 -1.15471251e-01 2.49968309e+02] [ 4.14992068e-01 9.08383412e-01 -5.11972645e-02 3.56907212e+01] [ 1.26299506e-01 -1.79009344e-03 9.91990539e-01 2.47518575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:250.02, Y:35.71, Z:24.76 [[ 9.02950738e-01 -4.13947594e-01 -1.15444163e-01 2.50022890e+02] [ 4.10763304e-01 9.10300004e-01 -5.12582720e-02 3.57103515e+01] [ 1.26307061e-01 -1.13653134e-03 9.91990542e-01 2.47593461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:250.08, Y:35.73, Z:24.77 [[ 9.03064607e-01 -4.13701511e-01 -1.15435592e-01 2.50077113e+02] [ 4.10512752e-01 9.10411935e-01 -5.12775675e-02 3.57321140e+01] [ 1.26307548e-01 -1.08082622e-03 9.91990542e-01 2.47655391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:250.13, Y:35.75, Z:24.77 [[ 9.04559104e-01 -4.10430339e-01 -1.15411281e-01 2.50130679e+02] [ 4.07208034e-01 9.11891780e-01 -5.13322276e-02 3.57541579e+01] [ 1.26310902e-01 -5.63366897e-04 9.91990544e-01 2.47737466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30863999999997 meters Centerline goodness : 0.997889 with order 1 Centerline is valid? [True, True] Translation: X:250.18, Y:35.78, Z:24.80 [[ 9.06985733e-01 -4.05046550e-01 -1.15387057e-01 2.50182292e+02] [ 4.01773797e-01 9.14296030e-01 -5.13866205e-02 3.57766907e+01] [ 1.26311902e-01 2.47435404e-04 9.91990545e-01 2.48038071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36863999999997 meters Centerline goodness : 0.998724 with order 1 Centerline is valid? [True, True] Translation: X:250.24, Y:35.80, Z:24.81 [[ 9.08955954e-01 -4.00606672e-01 -1.15383572e-01 2.50235873e+02] [ 3.97297218e-01 9.16249710e-01 -5.13944463e-02 3.58014266e+01] [ 1.26309122e-01 8.73715885e-04 9.91990545e-01 2.48084506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:250.29, Y:35.82, Z:24.80 [[ 9.10152753e-01 -3.97881671e-01 -1.15378259e-01 2.50291399e+02] [ 3.94548870e-01 9.17435869e-01 -5.14063703e-02 3.58249619e+01] [ 1.26305806e-01 1.26528774e-03 9.91990546e-01 2.47962621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:250.34, Y:35.85, Z:24.80 [[ 9.10675208e-01 -3.96688294e-01 -1.15364910e-01 2.50343756e+02] [ 3.93342156e-01 9.17952207e-01 -5.14363111e-02 3.58483436e+01] [ 1.26303656e-01 1.46389100e-03 9.91990546e-01 2.48037264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54864 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:250.40, Y:35.87, Z:24.81 [[ 9.10802698e-01 -3.96403738e-01 -1.15336559e-01 2.50396457e+02] [ 3.93047287e-01 9.18074943e-01 -5.14998047e-02 3.58718172e+01] [ 1.26302320e-01 1.57343948e-03 9.91990548e-01 2.48112457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60864 meters Centerline goodness : 0.995190 with order 1 Centerline is valid? [True, True] Translation: X:250.45, Y:35.90, Z:24.84 [[ 9.12675238e-01 -3.92081545e-01 -1.15308160e-01 2.50448383e+02] [ 3.88682635e-01 9.19927733e-01 -5.15633129e-02 3.58955590e+01] [ 1.26292198e-01 2.24227948e-03 9.91990551e-01 2.48411589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66864 meters Centerline goodness : 0.989538 with order 1 Centerline is valid? [True, True] Translation: X:250.50, Y:35.92, Z:24.86 [[ 9.14776726e-01 -3.87154405e-01 -1.15303981e-01 2.50501372e+02] [ 3.83715260e-01 9.22010228e-01 -5.15726563e-02 3.59221531e+01] [ 1.26278031e-01 2.93356874e-03 9.91990551e-01 2.48557953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72864 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:250.56, Y:35.95, Z:24.84 [[ 9.16722005e-01 -3.82526612e-01 -1.15300292e-01 2.50558125e+02] [ 3.79049919e-01 9.23937535e-01 -5.15809030e-02 3.59508905e+01] [ 1.26261335e-01 3.58078265e-03 9.91990551e-01 2.48363028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78864 meters Centerline goodness : 0.998871 with order 1 Centerline is valid? [True, True] Translation: X:250.61, Y:35.98, Z:24.84 [[ 9.16812000e-01 -3.82310800e-01 -1.15300516e-01 2.50611595e+02] [ 3.78832472e-01 9.24026742e-01 -5.15804017e-02 3.59750622e+01] [ 1.26260505e-01 3.60995182e-03 9.91990551e-01 2.48439674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84864 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:250.66, Y:36.00, Z:24.85 [[ 9.15588240e-01 -3.85239512e-01 -1.15276593e-01 2.50664137e+02] [ 3.81777544e-01 9.22810845e-01 -5.16338110e-02 3.60003314e+01] [ 1.26269875e-01 3.26529541e-03 9.91990553e-01 2.48494666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90864 meters Centerline goodness : 0.994017 with order 1 Centerline is valid? [True, True] Translation: X:250.71, Y:36.03, Z:24.88 [[ 9.14593109e-01 -3.87603227e-01 -1.15252696e-01 2.50714390e+02] [ 3.84153216e-01 9.21821431e-01 -5.16870976e-02 3.60253882e+01] [ 1.26276491e-01 2.99796939e-03 9.91990554e-01 2.48791206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96864 meters Centerline goodness : 0.995538 with order 1 Centerline is valid? [True, True] Translation: X:250.76, Y:36.05, Z:24.88 [[ 9.14787048e-01 -3.87151928e-01 -1.15230387e-01 2.50764787e+02] [ 3.83692096e-01 9.22010673e-01 -5.17367853e-02 3.60538520e+01] [ 1.26273643e-01 3.11515221e-03 9.91990556e-01 2.48845491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02864 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:250.82, Y:36.08, Z:24.87 [[ 9.15919286e-01 -3.84473951e-01 -1.15202616e-01 2.50819198e+02] [ 3.80985238e-01 9.23129004e-01 -5.17985513e-02 3.60830526e+01] [ 1.26262070e-01 3.55279612e-03 9.91990558e-01 2.48728196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08864 meters Centerline goodness : 0.995236 with order 1 Centerline is valid? [True, True] Translation: X:250.87, Y:36.11, Z:24.90 [[ 9.15803193e-01 -3.84751426e-01 -1.15199182e-01 2.50869495e+02] [ 3.81263938e-01 9.23013504e-01 -5.18061880e-02 3.61091051e+01] [ 1.26262905e-01 3.52297869e-03 9.91990558e-01 2.48972883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14864 meters Centerline goodness : 0.993525 with order 1 Centerline is valid? [True, True] Translation: X:250.92, Y:36.14, Z:24.91 [[ 9.12516622e-01 -3.92489129e-01 -1.15176813e-01 2.50921501e+02] [ 3.89056526e-01 9.19753221e-01 -5.18558718e-02 3.61356395e+01] [ 1.26287111e-01 2.50905429e-03 9.91990560e-01 2.49073134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20863999999995 meters Centerline goodness : 0.992634 with order 1 Centerline is valid? [True, True] Translation: X:250.97, Y:36.16, Z:24.92 [[ 9.11328868e-01 -3.95246262e-01 -1.15152447e-01 2.50973545e+02] [ 3.91828726e-01 9.18572593e-01 -5.19099238e-02 3.61611166e+01] [ 1.26293085e-01 2.18697561e-03 9.91990561e-01 2.49157319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26863999999995 meters Centerline goodness : 0.995674 with order 1 Centerline is valid? [True, True] Translation: X:251.03, Y:36.19, Z:24.92 [[ 9.12219900e-01 -3.93192609e-01 -1.15127868e-01 2.51025213e+02] [ 3.89751895e-01 9.19452643e-01 -5.19643794e-02 3.61922864e+01] [ 1.26286632e-01 2.53163628e-03 9.91990563e-01 2.49193928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32863999999995 meters Centerline goodness : 0.995234 with order 1 Centerline is valid? [True, True] Translation: X:251.07, Y:36.22, Z:24.93 [[ 9.12938386e-01 -3.91522527e-01 -1.15124344e-01 2.51074594e+02] [ 3.88067599e-01 9.20164350e-01 -5.19721861e-02 3.62240207e+01] [ 1.26281598e-01 2.77137608e-03 9.91990563e-01 2.49261082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38863999999995 meters Centerline goodness : 0.998627 with order 1 Centerline is valid? [True, True] Translation: X:251.13, Y:36.26, Z:24.92 [[ 9.11839102e-01 -3.94083119e-01 -1.15099725e-01 2.51126726e+02] [ 3.90641612e-01 9.19071466e-01 -5.20266514e-02 3.62550888e+01] [ 1.26287698e-01 2.47719318e-03 9.91990565e-01 2.49184339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44863999999995 meters Centerline goodness : 0.956486 with order 1 Centerline is valid? [True, True] Translation: X:251.16, Y:36.32, Z:24.92 [[ 9.41668222e-01 -3.16257305e-01 -1.15075091e-01 2.51161351e+02] [ 3.12215062e-01 9.48582793e-01 -5.20810820e-02 3.63221551e+01] [ 1.25629273e-01 1.31149234e-02 9.91990567e-01 2.49234548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50863999999996 meters Centerline goodness : 0.993184 with order 1 Centerline is valid? [True, True] Translation: X:251.23, Y:36.31, Z:24.95 [[ 9.09246693e-01 -4.00036738e-01 -1.15069804e-01 2.51229722e+02] [ 3.96634227e-01 9.16497482e-01 -5.20927607e-02 3.63085605e+01] [ 1.26300203e-01 1.72454771e-03 9.91990567e-01 2.49502627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56863999999996 meters Centerline goodness : 0.998821 with order 1 Centerline is valid? [True, True] Translation: X:251.28, Y:36.34, Z:24.94 [[ 9.08053890e-01 -4.02737995e-01 -1.15066240e-01 2.51282945e+02] [ 3.99356057e-01 9.15314298e-01 -5.21006319e-02 3.63353501e+01] [ 1.26304678e-01 1.35778175e-03 9.91990567e-01 2.49397891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62863999999996 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:251.34, Y:36.36, Z:24.95 [[ 9.06967806e-01 -4.05186123e-01 -1.15037407e-01 2.51336474e+02] [ 4.01815718e-01 9.14233572e-01 -5.21642175e-02 3.63599255e+01] [ 1.26307276e-01 1.08742774e-03 9.91990569e-01 2.49462828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:251.39, Y:36.38, Z:24.95 [[ 9.04906853e-01 -4.09774666e-01 -1.15014389e-01 2.51391380e+02] [ 4.06434660e-01 9.12186642e-01 -5.22149198e-02 3.63809633e+01] [ 1.26310940e-01 5.03804755e-04 9.91990571e-01 2.49540726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:251.44, Y:36.40, Z:24.96 [[ 9.04927199e-01 -4.09736701e-01 -1.14989570e-01 2.51443928e+02] [ 4.06389451e-01 9.12203657e-01 -5.22695202e-02 3.64047546e+01] [ 1.26310647e-01 5.69562319e-04 9.91990573e-01 2.49628481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80863999999997 meters Centerline goodness : 0.994604 with order 1 Centerline is valid? [True, True] Translation: X:251.50, Y:36.43, Z:24.99 [[ 9.05287676e-01 -4.08942111e-01 -1.14980749e-01 2.51495922e+02] [ 4.05586011e-01 9.12560057e-01 -5.22889174e-02 3.64267394e+01] [ 1.26309979e-01 7.01929312e-04 9.91990573e-01 2.49869479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86863999999997 meters Centerline goodness : 0.991124 with order 1 Centerline is valid? [True, True] Translation: X:251.55, Y:36.45, Z:25.00 [[ 9.06295858e-01 -4.06709924e-01 -1.14955884e-01 2.51549190e+02] [ 4.03328985e-01 9.13556723e-01 -5.23435250e-02 3.64525623e+01] [ 1.26307352e-01 1.07367980e-03 9.91990575e-01 2.49983373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:251.61, Y:36.48, Z:24.98 [[ 9.07184708e-01 -4.04723927e-01 -1.14954113e-01 2.51605767e+02] [ 4.01326600e-01 9.14437919e-01 -5.23474145e-02 3.64786851e+01] [ 1.26304651e-01 1.35463055e-03 9.91990575e-01 2.49841454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98864 meters Centerline goodness : 0.992340 with order 1 Centerline is valid? [True, True] Translation: X:251.66, Y:36.50, Z:25.01 [[ 9.08006408e-01 -4.02877555e-01 -1.14952335e-01 2.51655834e+02] [ 3.99464985e-01 9.15252460e-01 -5.23513196e-02 3.65039286e+01] [ 1.26301579e-01 1.61590098e-03 9.91990575e-01 2.50119007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04864 meters Centerline goodness : 0.993763 with order 1 Centerline is valid? [True, True] Translation: X:251.71, Y:36.53, Z:25.02 [[ 9.08668408e-01 -4.01384237e-01 -1.14945285e-01 2.51708050e+02] [ 3.97957803e-01 9.15907913e-01 -5.23667939e-02 3.65312430e+01] [ 1.26298502e-01 1.84067823e-03 9.91990575e-01 2.50172133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10864 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:251.76, Y:36.56, Z:25.01 [[ 9.08746159e-01 -4.01215466e-01 -1.14919838e-01 2.51760849e+02] [ 3.97780634e-01 9.15981681e-01 -5.24225795e-02 3.65601978e+01] [ 1.26297216e-01 1.92593187e-03 9.91990577e-01 2.50081815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:251.81, Y:36.59, Z:25.01 [[ 9.07830266e-01 -4.03290747e-01 -1.14894650e-01 2.51812748e+02] [ 3.99865477e-01 9.15070319e-01 -5.24777253e-02 3.65875970e+01] [ 1.26300465e-01 1.69846316e-03 9.91990578e-01 2.50145134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22864 meters Centerline goodness : 0.994266 with order 1 Centerline is valid? [True, True] Translation: X:251.86, Y:36.61, Z:25.04 [[ 9.06875900e-01 -4.05439359e-01 -1.14869610e-01 2.51863100e+02] [ 4.02024308e-01 9.14120777e-01 -5.25324793e-02 3.66106780e+01] [ 1.26303432e-01 1.46006384e-03 9.91990580e-01 2.50388844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28864 meters Centerline goodness : 0.994703 with order 1 Centerline is valid? [True, True] Translation: X:251.92, Y:36.64, Z:25.05 [[ 9.04823426e-01 -4.10007462e-01 -1.14840975e-01 2.51915273e+02] [ 4.06621053e-01 9.12081731e-01 -5.25950040e-02 3.66357084e+01] [ 1.26308700e-01 8.92433327e-04 9.91990583e-01 2.50473689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34864 meters Centerline goodness : 0.995148 with order 1 Centerline is valid? [True, True] Translation: X:251.97, Y:36.66, Z:25.05 [[ 9.03548796e-01 -4.12815913e-01 -1.14815485e-01 2.51969670e+02] [ 4.09445001e-01 9.10814309e-01 -5.26505928e-02 3.66552122e+01] [ 1.26310589e-01 5.61753570e-04 9.91990584e-01 2.50547342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:252.02, Y:36.68, Z:25.04 [[ 9.03258200e-01 -4.13459557e-01 -1.14785975e-01 2.52024739e+02] [ 4.10085655e-01 9.10522323e-01 -5.27148499e-02 3.66800378e+01] [ 1.26310651e-01 5.43038573e-04 9.91990587e-01 2.50448206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46864 meters Centerline goodness : 0.996713 with order 1 Centerline is valid? [True, True] Translation: X:252.08, Y:36.70, Z:25.07 [[ 9.02559768e-01 -4.14983968e-01 -1.14778792e-01 2.52077740e+02] [ 4.11620347e-01 9.09828657e-01 -5.27304857e-02 3.67004854e+01] [ 1.26311340e-01 3.47128768e-04 9.91990587e-01 2.50700615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:252.13, Y:36.72, Z:25.06 [[ 9.02979686e-01 -4.14070432e-01 -1.14775272e-01 2.52133560e+02] [ 4.10698484e-01 9.10244716e-01 -5.27381461e-02 3.67242069e+01] [ 1.26310892e-01 4.83444386e-04 9.91990587e-01 2.50610418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58864 meters Centerline goodness : 0.995534 with order 1 Centerline is valid? [True, True] Translation: X:252.19, Y:36.75, Z:25.09 [[ 9.03231284e-01 -4.13528309e-01 -1.14750097e-01 2.52185203e+02] [ 4.10145048e-01 9.10491050e-01 -5.27928664e-02 3.67457577e+01] [ 1.26310281e-01 6.19984403e-04 9.91990589e-01 2.50861237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64863999999994 meters Centerline goodness : 0.996223 with order 1 Centerline is valid? [True, True] Translation: X:252.24, Y:36.77, Z:25.09 [[ 9.03313069e-01 -4.13356540e-01 -1.14725196e-01 2.52238619e+02] [ 4.09965031e-01 9.10568985e-01 -5.28469245e-02 3.67692250e+01] [ 1.26309827e-01 7.03998836e-04 9.91990591e-01 2.50937990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70863999999995 meters Centerline goodness : 0.995487 with order 1 Centerline is valid? [True, True] Translation: X:252.29, Y:36.79, Z:25.10 [[ 9.05075383e-01 -4.09490609e-01 -1.14699572e-01 2.52291012e+02] [ 4.06061068e-01 9.12313398e-01 -5.29024812e-02 3.67940738e+01] [ 1.26305026e-01 1.30570267e-03 9.91990592e-01 2.51024526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76863999999995 meters Centerline goodness : 0.993184 with order 1 Centerline is valid? [True, True] Translation: X:252.34, Y:36.82, Z:25.11 [[ 9.07588782e-01 -4.03896537e-01 -1.14674275e-01 2.52342708e+02] [ 4.00415468e-01 9.14802154e-01 -5.29572601e-02 3.68214860e+01] [ 1.26293528e-01 2.14606159e-03 9.91990594e-01 2.51129186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82863999999995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:252.40, Y:36.85, Z:25.10 [[ 9.09586331e-01 -3.99384464e-01 -1.14650584e-01 2.52396234e+02] [ 3.95861161e-01 9.16779167e-01 -5.30085011e-02 3.68495500e+01] [ 1.26280039e-01 2.83009469e-03 9.91990596e-01 2.51013303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88863999999995 meters Centerline goodness : 0.994649 with order 1 Centerline is valid? [True, True] Translation: X:252.45, Y:36.88, Z:25.12 [[ 9.10728301e-01 -3.96780783e-01 -1.14625357e-01 2.52445331e+02] [ 3.93230063e-01 9.17907640e-01 -5.30629981e-02 3.68768301e+01] [ 1.26269868e-01 3.25183788e-03 9.91990598e-01 2.51233895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94863999999995 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:252.50, Y:36.90, Z:25.12 [[ 9.09851736e-01 -3.98789304e-01 -1.14616363e-01 2.52498865e+02] [ 3.95251988e-01 9.17037689e-01 -5.30824178e-02 3.69033277e+01] [ 1.26276225e-01 2.99478471e-03 9.91990598e-01 2.51161859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00863999999996 meters Centerline goodness : 0.990438 with order 1 Centerline is valid? [True, True] Translation: X:252.55, Y:36.93, Z:25.14 [[ 9.09656670e-01 -3.99241272e-01 -1.14591229e-01 2.52548905e+02] [ 3.95700703e-01 9.16841018e-01 -5.31366195e-02 3.69288184e+01] [ 1.26276271e-01 2.99225033e-03 9.91990600e-01 2.51446005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06863999999996 meters Centerline goodness : 0.994608 with order 1 Centerline is valid? [True, True] Translation: X:252.60, Y:36.95, Z:25.15 [[ 9.09511409e-01 -3.99575704e-01 -1.14578591e-01 2.52603002e+02] [ 3.96034347e-01 9.16695369e-01 -5.31638581e-02 3.69540080e+01] [ 1.26276650e-01 2.97607802e-03 9.91990600e-01 2.51469704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12863999999996 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:252.66, Y:36.99, Z:25.14 [[ 9.11202665e-01 -3.95704777e-01 -1.14575012e-01 2.52655349e+02] [ 3.92131937e-01 9.18371019e-01 -5.31715696e-02 3.69852986e+01] [ 1.26262615e-01 3.52155442e-03 9.91990600e-01 2.51385721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18863999999996 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:252.71, Y:37.01, Z:25.15 [[ 9.11808392e-01 -3.94309092e-01 -1.14567870e-01 2.52705951e+02] [ 3.90723349e-01 9.18970300e-01 -5.31869536e-02 3.70140764e+01] [ 1.26256569e-01 3.73196875e-03 9.91990600e-01 2.51462172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24863999999997 meters Centerline goodness : 0.987682 with order 1 Centerline is valid? [True, True] Translation: X:252.76, Y:37.04, Z:25.18 [[ 9.10796605e-01 -3.96647731e-01 -1.14543100e-01 2.52755680e+02] [ 3.93073682e-01 9.17964355e-01 -5.32402462e-02 3.70405339e+01] [ 1.26264106e-01 3.46715745e-03 9.91990602e-01 2.51773956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30863999999997 meters Centerline goodness : 0.992796 with order 1 Centerline is valid? [True, True] Translation: X:252.81, Y:37.07, Z:25.18 [[ 9.08686067e-01 -4.01460070e-01 -1.14540141e-01 2.52810549e+02] [ 3.97923185e-01 9.15872227e-01 -5.32466112e-02 3.70665130e+01] [ 1.26280522e-01 2.80627596e-03 9.91990602e-01 2.51765369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36863999999997 meters Centerline goodness : 0.995440 with order 1 Centerline is valid? [True, True] Translation: X:252.86, Y:37.10, Z:25.18 [[ 9.07102279e-01 -4.05026638e-01 -1.14537672e-01 2.52861411e+02] [ 4.01517341e-01 9.14301951e-01 -5.32519224e-02 3.70964257e+01] [ 1.26290464e-01 2.31607887e-03 9.91990602e-01 2.51801832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:252.92, Y:37.12, Z:25.17 [[ 9.06002585e-01 -4.07487743e-01 -1.14512252e-01 2.52916102e+02] [ 4.03991103e-01 9.13208411e-01 -5.33065294e-02 3.71226548e+01] [ 1.26295309e-01 2.03392251e-03 9.91990604e-01 2.51711025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48864 meters Centerline goodness : 0.992004 with order 1 Centerline is valid? [True, True] Translation: X:252.96, Y:37.15, Z:25.20 [[ 9.06058843e-01 -4.07369845e-01 -1.14486607e-01 2.52963990e+02] [ 4.03865317e-01 9.13260834e-01 -5.33615502e-02 3.71508191e+01] [ 1.26294021e-01 2.11153452e-03 9.91990606e-01 2.52001571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54864 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:253.02, Y:37.18, Z:25.19 [[ 9.05418282e-01 -4.08793601e-01 -1.14479372e-01 2.53017568e+02] [ 4.05298437e-01 9.12624822e-01 -5.33770681e-02 3.71793638e+01] [ 1.26296920e-01 1.93026281e-03 9.91990606e-01 2.51851688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60864 meters Centerline goodness : 0.994698 with order 1 Centerline is valid? [True, True] Translation: X:253.07, Y:37.21, Z:25.21 [[ 9.03452384e-01 -4.13122714e-01 -1.14470142e-01 2.53066269e+02] [ 4.09659577e-01 9.10674369e-01 -5.33968539e-02 3.72074554e+01] [ 1.26304478e-01 1.34772476e-03 9.91990606e-01 2.52126731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66864 meters Centerline goodness : 0.994512 with order 1 Centerline is valid? [True, True] Translation: X:253.12, Y:37.23, Z:25.22 [[ 9.00564601e-01 -4.19382446e-01 -1.14462935e-01 2.53118755e+02] [ 4.15967548e-01 9.07809520e-01 -5.34122995e-02 3.72323031e+01] [ 1.26310723e-01 4.88359802e-04 9.91990606e-01 2.52206095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72864 meters Centerline goodness : 0.993965 with order 1 Centerline is valid? [True, True] Translation: X:253.17, Y:37.26, Z:25.23 [[ 8.97533161e-01 -4.25833462e-01 -1.14455619e-01 2.53171858e+02] [ 4.22468637e-01 9.04801471e-01 -5.34279722e-02 3.72554926e+01] [ 1.26311031e-01 -4.00532536e-04 9.91990606e-01 2.52284513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:253.23, Y:37.28, Z:25.21 [[ 8.96551970e-01 -4.27897344e-01 -1.14448369e-01 2.53228994e+02] [ 4.24547269e-01 9.03827090e-01 -5.34434982e-02 3.72786428e+01] [ 1.26309867e-01 -6.73868772e-04 9.91990606e-01 2.52136187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84864 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:253.28, Y:37.30, Z:25.22 [[ 8.96161524e-01 -4.28716349e-01 -1.14441316e-01 2.53282856e+02] [ 4.25370994e-01 9.03438817e-01 -5.34585964e-02 3.73015707e+01] [ 1.26309301e-01 -7.72479147e-04 9.91990607e-01 2.52209725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90864 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:253.34, Y:37.32, Z:25.23 [[ 8.97042836e-01 -4.26871105e-01 -1.14434308e-01 2.53337584e+02] [ 4.23508867e-01 9.04312343e-01 -5.34735928e-02 3.73216740e+01] [ 1.26310689e-01 -4.95841019e-04 9.91990607e-01 2.52285004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:253.39, Y:37.34, Z:25.24 [[ 8.96615605e-01 -4.27769614e-01 -1.14427334e-01 2.53392571e+02] [ 4.24412757e-01 9.03887598e-01 -5.34885142e-02 3.73408013e+01] [ 1.26310209e-01 -6.05783657e-04 9.91990607e-01 2.52357611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02864 meters Centerline goodness : 0.994887 with order 1 Centerline is valid? [True, True] Translation: X:253.45, Y:37.36, Z:25.27 [[ 8.94640507e-01 -4.31887923e-01 -1.14416719e-01 2.53445541e+02] [ 4.28561637e-01 9.01926534e-01 -5.35112109e-02 3.73578494e+01] [ 1.26306320e-01 -1.16131943e-03 9.91990607e-01 2.52650577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:253.50, Y:37.38, Z:25.25 [[ 8.94891537e-01 -4.31369395e-01 -1.14409711e-01 2.53502647e+02] [ 4.28036973e-01 9.02174760e-01 -5.35261898e-02 3.73801451e+01] [ 1.26307113e-01 -1.07145204e-03 9.91990607e-01 2.52516419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14863999999994 meters Centerline goodness : 0.996173 with order 1 Centerline is valid? [True, True] Translation: X:253.56, Y:37.40, Z:25.28 [[ 8.94889969e-01 -4.31374527e-01 -1.14402629e-01 2.53555466e+02] [ 4.28040212e-01 9.02172325e-01 -5.35413207e-02 3.73973188e+01] [ 1.26307248e-01 -1.05533498e-03 9.91990607e-01 2.52806962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20863999999995 meters Centerline goodness : 0.996179 with order 1 Centerline is valid? [True, True] Translation: X:253.61, Y:37.42, Z:25.29 [[ 8.95409972e-01 -4.30295973e-01 -1.14395618e-01 2.53609640e+02] [ 4.26950973e-01 9.02687426e-01 -5.35562977e-02 3.74188358e+01] [ 1.26308545e-01 -8.86477209e-04 9.91990608e-01 2.52869759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26863999999995 meters Centerline goodness : 0.990544 with order 1 Centerline is valid? [True, True] Translation: X:253.67, Y:37.44, Z:25.30 [[ 8.95277155e-01 -4.30574138e-01 -1.14388491e-01 2.53665693e+02] [ 4.27229455e-01 9.02554755e-01 -5.35715148e-02 3.74372083e+01] [ 1.26308385e-01 -9.08779384e-04 9.91990608e-01 2.53008716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32863999999995 meters Centerline goodness : 0.996079 with order 1 Centerline is valid? [True, True] Translation: X:253.72, Y:37.46, Z:25.30 [[ 8.94963404e-01 -4.31226373e-01 -1.14386716e-01 2.53721381e+02] [ 4.27886509e-01 9.02243217e-01 -5.35753043e-02 3.74605733e+01] [ 1.26307723e-01 -9.96595924e-04 9.91990608e-01 2.53020049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38863999999995 meters Centerline goodness : 0.995588 with order 1 Centerline is valid? [True, True] Translation: X:253.78, Y:37.48, Z:25.31 [[ 8.94769179e-01 -4.31629702e-01 -1.14384945e-01 2.53776538e+02] [ 4.28292636e-01 9.02050275e-01 -5.35790861e-02 3.74790371e+01] [ 1.26307296e-01 -1.04931470e-03 9.91990608e-01 2.53094876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44863999999995 meters Centerline goodness : 0.996812 with order 1 Centerline is valid? [True, True] Translation: X:253.83, Y:37.50, Z:25.32 [[ 8.94701766e-01 -4.31777115e-01 -1.14355904e-01 2.53833044e+02] [ 4.28433335e-01 9.01979778e-01 -5.36409983e-02 3.74967579e+01] [ 1.26307668e-01 -1.00118550e-03 9.91990610e-01 2.53157452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50863999999996 meters Centerline goodness : 0.996812 with order 1 Centerline is valid? [True, True] Translation: X:253.89, Y:37.51, Z:25.32 [[ 8.96370690e-01 -4.28308337e-01 -1.14330902e-01 2.53889019e+02] [ 4.24929601e-01 9.03632538e-01 -5.36942364e-02 3.75148209e+01] [ 1.26310812e-01 -4.52644622e-04 9.91990612e-01 2.53246206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:253.94, Y:37.54, Z:25.31 [[ 8.99971159e-01 -4.20697225e-01 -1.14305544e-01 2.53944979e+02] [ 4.17250224e-01 9.07200852e-01 -5.37481649e-02 3.75378585e+01] [ 1.26309791e-01 6.77784572e-04 9.91990614e-01 2.53127598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62863999999996 meters Centerline goodness : 0.994308 with order 1 Centerline is valid? [True, True] Translation: X:254.00, Y:37.56, Z:25.34 [[ 9.01543774e-01 -4.17323498e-01 -1.14280019e-01 2.53995773e+02] [ 4.13842570e-01 9.08757190e-01 -5.38023812e-02 3.75613918e+01] [ 1.26305787e-01 1.21126493e-03 9.91990615e-01 2.53401809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68863999999996 meters Centerline goodness : 0.994402 with order 1 Centerline is valid? [True, True] Translation: X:254.05, Y:37.58, Z:25.35 [[ 9.03108679e-01 -4.13932623e-01 -1.14256279e-01 2.54048852e+02] [ 4.10418241e-01 9.10305854e-01 -5.38527493e-02 3.75848111e+01] [ 1.26299570e-01 1.74202409e-03 9.91990617e-01 2.53469456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74863999999997 meters Centerline goodness : 0.995782 with order 1 Centerline is valid? [True, True] Translation: X:254.10, Y:37.61, Z:25.35 [[ 9.03747275e-01 -4.12539099e-01 -1.14246903e-01 2.54101312e+02] [ 4.09011106e-01 9.10937789e-01 -5.38726328e-02 3.76096717e+01] [ 1.26296389e-01 1.95899280e-03 9.91990617e-01 2.53529740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.15, Y:37.64, Z:25.34 [[ 9.04690315e-01 -4.10470758e-01 -1.14233059e-01 2.54154976e+02] [ 4.06922623e-01 9.11870910e-01 -5.39019724e-02 3.76367157e+01] [ 1.26290987e-01 2.28057621e-03 9.91990618e-01 2.53433740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:254.21, Y:37.66, Z:25.35 [[ 9.04904895e-01 -4.10004683e-01 -1.14207229e-01 2.54206159e+02] [ 4.06445953e-01 9.12080242e-01 -5.39566462e-02 3.76636762e+01] [ 1.26288635e-01 2.40656717e-03 9.91990619e-01 2.53519781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:254.26, Y:37.69, Z:25.36 [[ 9.03701535e-01 -4.12658418e-01 -1.14177785e-01 2.54256616e+02] [ 4.09112897e-01 9.10883416e-01 -5.40188824e-02 3.76913431e+01] [ 1.26293997e-01 2.10534255e-03 9.91990622e-01 2.53581012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98864 meters Centerline goodness : 0.994504 with order 1 Centerline is valid? [True, True] Translation: X:254.31, Y:37.71, Z:25.38 [[ 9.01066947e-01 -4.18388015e-01 -1.14148265e-01 2.54307533e+02] [ 4.14880273e-01 9.08267353e-01 -5.40811907e-02 3.77135282e+01] [ 1.26304064e-01 1.37291012e-03 9.91990624e-01 2.53820123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04864 meters Centerline goodness : 0.996069 with order 1 Centerline is valid? [True, True] Translation: X:254.36, Y:37.74, Z:25.39 [[ 8.98144333e-01 -4.24633652e-01 -1.14118444e-01 2.54361393e+02] [ 4.21167996e-01 9.05365087e-01 -5.41440437e-02 3.77366050e+01] [ 1.26310238e-01 5.66129463e-04 9.91990627e-01 2.53899010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:254.42, Y:37.76, Z:25.38 [[ 8.95210616e-01 -4.30791083e-01 -1.14092054e-01 2.54418973e+02] [ 4.27368012e-01 9.02451653e-01 -5.41995975e-02 3.77565730e+01] [ 1.26311266e-01 -2.39239117e-04 9.91990628e-01 2.53778482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:254.48, Y:37.77, Z:25.39 [[ 8.92581238e-01 -4.36219905e-01 -1.14065460e-01 2.54475313e+02] [ 4.32833728e-01 8.99839599e-01 -5.42555074e-02 3.77726966e+01] [ 1.26307950e-01 -9.43930390e-04 9.91990630e-01 2.53859837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22864 meters Centerline goodness : 0.994251 with order 1 Centerline is valid? [True, True] Translation: X:254.53, Y:37.79, Z:25.42 [[ 8.92318321e-01 -4.36765107e-01 -1.14036203e-01 2.54529739e+02] [ 4.33375515e-01 8.99575085e-01 -5.43169315e-02 3.77885658e+01] [ 1.26307868e-01 -9.52505229e-04 9.91990633e-01 2.54162204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:254.59, Y:37.81, Z:25.40 [[ 8.93447863e-01 -4.34456039e-01 -1.14012573e-01 2.54586667e+02] [ 4.31041367e-01 9.00692858e-01 -5.43664870e-02 3.78115097e+01] [ 1.26310159e-01 -5.70513843e-04 9.91990634e-01 2.54023287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:254.64, Y:37.83, Z:25.41 [[ 8.94957793e-01 -4.31343928e-01 -1.13986689e-01 2.54640821e+02] [ 4.27897156e-01 9.02187570e-01 -5.44207034e-02 3.78305577e+01] [ 1.26311414e-01 -7.03474749e-05 9.91990636e-01 2.54103733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40864 meters Centerline goodness : 0.989239 with order 1 Centerline is valid? [True, True] Translation: X:254.69, Y:37.85, Z:25.45 [[ 8.95452371e-01 -4.30324165e-01 -1.13956852e-01 2.54693480e+02] [ 4.26861216e-01 9.02674411e-01 -5.44831120e-02 3.78505486e+01] [ 1.26311333e-01 1.43271568e-04 9.91990638e-01 2.54455006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:254.75, Y:37.88, Z:25.43 [[ 8.98635533e-01 -4.23637430e-01 -1.13953966e-01 2.54751388e+02] [ 4.20119979e-01 9.05831185e-01 -5.44891472e-02 3.78761090e+01] [ 1.26306698e-01 1.09154614e-03 9.91990638e-01 2.54255639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52864 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:254.80, Y:37.90, Z:25.43 [[ 9.02304364e-01 -4.15765486e-01 -1.13955673e-01 2.54802849e+02] [ 4.12185717e-01 9.09469217e-01 -5.44855760e-02 3.79045338e+01] [ 1.26292399e-01 2.19167218e-03 9.91990638e-01 2.54336722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:254.85, Y:37.93, Z:25.44 [[ 9.04278894e-01 -4.11460459e-01 -1.13929687e-01 2.54852830e+02] [ 4.07839747e-01 9.11423142e-01 -5.45398588e-02 3.79335271e+01] [ 1.26279149e-01 2.85418833e-03 9.91990640e-01 2.54407433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64863999999994 meters Centerline goodness : 0.988086 with order 1 Centerline is valid? [True, True] Translation: X:254.90, Y:37.96, Z:25.48 [[ 9.04931874e-01 -4.10030516e-01 -1.13900305e-01 2.54899993e+02] [ 4.06390805e-01 9.12066460e-01 -5.46011525e-02 3.79637597e+01] [ 1.26272787e-01 3.12228666e-03 9.91990642e-01 2.54753114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70863999999995 meters Centerline goodness : 0.987241 with order 1 Centerline is valid? [True, True] Translation: X:254.95, Y:37.99, Z:25.48 [[ 9.03600800e-01 -4.12956333e-01 -1.13897593e-01 2.54951086e+02] [ 4.09339013e-01 9.10746764e-01 -5.46068097e-02 3.79942600e+01] [ 1.26282092e-01 2.72002871e-03 9.91990642e-01 2.54826556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76863999999995 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:255.01, Y:38.03, Z:25.46 [[ 9.04429351e-01 -4.11139546e-01 -1.13893907e-01 2.55005392e+02] [ 4.07506906e-01 9.11567539e-01 -5.46144950e-02 3.80275611e+01] [ 1.26276168e-01 2.98239846e-03 9.91990642e-01 2.54610442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82863999999995 meters Centerline goodness : 0.988053 with order 1 Centerline is valid? [True, True] Translation: X:255.05, Y:38.06, Z:25.49 [[ 9.04074192e-01 -4.11920338e-01 -1.13892453e-01 2.55054528e+02] [ 4.08293480e-01 9.11215320e-01 -5.46175270e-02 3.80555117e+01] [ 1.26278619e-01 2.87675037e-03 9.91990642e-01 2.54949014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88863999999995 meters Centerline goodness : 0.986095 with order 1 Centerline is valid? [True, True] Translation: X:255.11, Y:38.08, Z:25.51 [[ 9.03821000e-01 -4.12476089e-01 -1.13890633e-01 2.55105782e+02] [ 4.08853144e-01 9.10964114e-01 -5.46213231e-02 3.80831759e+01] [ 1.26280269e-01 2.80335544e-03 9.91990643e-01 2.55056049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94863999999995 meters Centerline goodness : 0.988713 with order 1 Centerline is valid? [True, True] Translation: X:255.16, Y:38.12, Z:25.51 [[ 9.03877800e-01 -4.12353647e-01 -1.13883240e-01 2.55156384e+02] [ 4.08727795e-01 9.11019438e-01 -5.46367328e-02 3.81156195e+01] [ 1.26279501e-01 2.83768430e-03 9.91990643e-01 2.55110229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00863999999996 meters Centerline goodness : 0.990522 with order 1 Centerline is valid? [True, True] Translation: X:255.21, Y:38.14, Z:25.52 [[ 9.03291882e-01 -4.13636080e-01 -1.13881380e-01 2.55208462e+02] [ 4.10019879e-01 9.10438412e-01 -5.46406085e-02 3.81419595e+01] [ 1.26283310e-01 2.66278825e-03 9.91990643e-01 2.55167732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06863999999996 meters Centerline goodness : 0.986206 with order 1 Centerline is valid? [True, True] Translation: X:255.26, Y:38.17, Z:25.53 [[ 9.01181050e-01 -4.18222054e-01 -1.13855298e-01 2.55258666e+02] [ 4.14635367e-01 9.08342436e-01 -5.46949021e-02 3.81733563e+01] [ 1.26294213e-01 2.08157586e-03 9.91990644e-01 2.55294725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12863999999996 meters Centerline goodness : 0.991078 with order 1 Centerline is valid? [True, True] Translation: X:255.31, Y:38.20, Z:25.53 [[ 9.00279273e-01 -4.20160236e-01 -1.13853446e-01 2.55311120e+02] [ 4.16588479e-01 9.07448117e-01 -5.46987581e-02 3.82021568e+01] [ 1.26298338e-01 1.81412427e-03 9.91990644e-01 2.55342812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18863999999996 meters Centerline goodness : 0.990198 with order 1 Centerline is valid? [True, True] Translation: X:255.36, Y:38.23, Z:25.54 [[ 9.00028270e-01 -4.20698659e-01 -1.13849687e-01 2.55361956e+02] [ 4.17130201e-01 9.07198757e-01 -5.47065804e-02 3.82307263e+01] [ 1.26299280e-01 1.74732600e-03 9.91990645e-01 2.55400073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24863999999997 meters Centerline goodness : 0.989106 with order 1 Centerline is valid? [True, True] Translation: X:255.41, Y:38.26, Z:25.55 [[ 9.00025329e-01 -4.20712073e-01 -1.13823370e-01 2.55414195e+02] [ 4.17136805e-01 9.07192420e-01 -5.47612825e-02 3.82568839e+01] [ 1.26298431e-01 1.80662443e-03 9.91990646e-01 2.55493043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30863999999997 meters Centerline goodness : 0.987377 with order 1 Centerline is valid? [True, True] Translation: X:255.46, Y:38.29, Z:25.56 [[ 8.99984411e-01 -4.20806709e-01 -1.13797072e-01 2.55463995e+02] [ 4.17225293e-01 9.07148430e-01 -5.48158780e-02 3.82879153e+01] [ 1.26297724e-01 1.85441921e-03 9.91990648e-01 2.55585294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36863999999997 meters Centerline goodness : 0.988557 with order 1 Centerline is valid? [True, True] Translation: X:255.52, Y:38.32, Z:25.56 [[ 9.00252236e-01 -4.20240618e-01 -1.13770540e-01 2.55515581e+02] [ 4.16647745e-01 9.07410514e-01 -5.48708895e-02 3.83161406e+01] [ 1.26295561e-01 1.99540186e-03 9.91990650e-01 2.55642161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42864 meters Centerline goodness : 0.987201 with order 1 Centerline is valid? [True, True] Translation: X:255.56, Y:38.35, Z:25.57 [[ 9.01130484e-01 -4.18361295e-01 -1.13743912e-01 2.55562968e+02] [ 4.14746536e-01 9.08277734e-01 -5.49260323e-02 3.83522183e+01] [ 1.26289989e-01 2.32062844e-03 9.91990652e-01 2.55733121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48864 meters Centerline goodness : 0.988336 with order 1 Centerline is valid? [True, True] Translation: X:255.61, Y:38.38, Z:25.58 [[ 9.01665532e-01 -4.17214133e-01 -1.13717351e-01 2.55613343e+02] [ 4.13583355e-01 9.08804655e-01 -5.49809693e-02 3.83813391e+01] [ 1.26285696e-01 2.54284130e-03 9.91990654e-01 2.55802179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54864 meters Centerline goodness : 0.985100 with order 1 Centerline is valid? [True, True] Translation: X:255.66, Y:38.42, Z:25.59 [[ 9.02495996e-01 -4.15421889e-01 -1.13690948e-01 2.55659336e+02] [ 4.11770067e-01 9.09624375e-01 -5.50355139e-02 3.84193078e+01] [ 1.26279014e-01 2.85480181e-03 9.91990656e-01 2.55895217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60864 meters Centerline goodness : 0.983285 with order 1 Centerline is valid? [True, True] Translation: X:255.71, Y:38.45, Z:25.60 [[ 9.01598471e-01 -4.17368297e-01 -1.13683336e-01 2.55707654e+02] [ 4.13729884e-01 9.08733704e-01 -5.50512314e-02 3.84526860e+01] [ 1.26284518e-01 2.59991256e-03 9.91990656e-01 2.55980444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66864 meters Centerline goodness : 0.985049 with order 1 Centerline is valid? [True, True] Translation: X:255.75, Y:38.49, Z:25.61 [[ 8.99601808e-01 -4.21656743e-01 -1.13675757e-01 2.55754819e+02] [ 4.18050370e-01 9.06753289e-01 -5.50668785e-02 3.84884866e+01] [ 1.26295187e-01 2.01607139e-03 9.91990656e-01 2.56060685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72864 meters Centerline goodness : 0.983306 with order 1 Centerline is valid? [True, True] Translation: X:255.80, Y:38.52, Z:25.62 [[ 8.96097463e-01 -4.29055758e-01 -1.13668347e-01 2.55804151e+02] [ 4.25506502e-01 9.03277461e-01 -5.50821687e-02 3.85203252e+01] [ 1.26307378e-01 9.92370829e-04 9.91990656e-01 2.56154190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78864 meters Centerline goodness : 0.996033 with order 1 Centerline is valid? [True, True] Translation: X:255.86, Y:38.55, Z:25.60 [[ 8.93017112e-01 -4.35432754e-01 -1.13660697e-01 2.55858847e+02] [ 4.31932762e-01 9.00221253e-01 -5.50979499e-02 3.85493371e+01] [ 1.26311227e-01 1.09633234e-04 9.91990656e-01 2.56028940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84864 meters Centerline goodness : 0.996764 with order 1 Centerline is valid? [True, True] Translation: X:255.91, Y:38.58, Z:25.61 [[ 8.89964945e-01 -4.41637754e-01 -1.13659541e-01 2.55914296e+02] [ 4.38187685e-01 8.97193126e-01 -5.51003348e-02 3.85767097e+01] [ 1.26308947e-01 -7.66844692e-04 9.91990656e-01 2.56117886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90864 meters Centerline goodness : 0.984545 with order 1 Centerline is valid? [True, True] Translation: X:255.97, Y:38.60, Z:25.64 [[ 8.88643475e-01 -4.44284234e-01 -1.13685062e-01 2.55967246e+02] [ 4.40862431e-01 8.95885079e-01 -5.50476282e-02 3.86026175e+01] [ 1.26305544e-01 -1.20175740e-03 9.91990658e-01 2.56388010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96864 meters Centerline goodness : 0.991815 with order 1 Centerline is valid? [True, True] Translation: X:256.02, Y:38.63, Z:25.64 [[ 8.87613045e-01 -4.46337929e-01 -1.13690521e-01 2.56023037e+02] [ 4.42934325e-01 8.94863221e-01 -5.50363522e-02 3.86289016e+01] [ 1.26302277e-01 -1.50645005e-03 9.91990658e-01 2.56420325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02864 meters Centerline goodness : 0.998383 with order 1 Centerline is valid? [True, True] Translation: X:256.08, Y:38.65, Z:25.63 [[ 8.84919372e-01 -4.51649046e-01 -1.13713867e-01 2.56082971e+02] [ 4.48295151e-01 8.92192675e-01 -5.49880729e-02 3.86485436e+01] [ 1.26289990e-01 -2.31736437e-03 9.91990659e-01 2.56338663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08864 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:256.14, Y:38.67, Z:25.64 [[ 8.83565020e-01 -4.54291978e-01 -1.13717429e-01 2.56140547e+02] [ 4.50960785e-01 8.90848748e-01 -5.49807059e-02 3.86690821e+01] [ 1.26282323e-01 -2.70307267e-03 9.91990659e-01 2.56414760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14863999999994 meters Centerline goodness : 0.998578 with order 1 Centerline is valid? [True, True] Translation: X:256.20, Y:38.69, Z:25.65 [[ 8.83610019e-01 -4.54203574e-01 -1.13720922e-01 2.56198744e+02] [ 4.50872582e-01 8.90893838e-01 -5.49734805e-02 3.86850706e+01] [ 1.26282420e-01 -2.69852755e-03 9.91990659e-01 2.56496981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20863999999995 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:256.26, Y:38.70, Z:25.66 [[ 8.87538092e-01 -4.46480105e-01 -1.13717418e-01 2.56255736e+02] [ 4.43084787e-01 8.94792150e-01 -5.49807277e-02 3.87018018e+01] [ 1.26301254e-01 -1.58896781e-03 9.91990659e-01 2.56588074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26863999999995 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:256.31, Y:38.72, Z:25.66 [[ 8.92129123e-01 -4.37236301e-01 -1.13710357e-01 2.56311347e+02] [ 4.33763951e-01 8.99346623e-01 -5.49953280e-02 3.87205207e+01] [ 1.26310979e-01 -2.60519870e-04 9.91990660e-01 2.56635333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32863999999995 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:256.36, Y:38.74, Z:25.67 [[ 8.94610446e-01 -4.32138583e-01 -1.13703099e-01 2.56364787e+02] [ 4.28623198e-01 9.01807085e-01 -5.50103288e-02 3.87435017e+01] [ 1.26310346e-01 4.77028708e-04 9.91990660e-01 2.56714875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38863999999995 meters Centerline goodness : 0.994749 with order 1 Centerline is valid? [True, True] Translation: X:256.41, Y:38.77, Z:25.69 [[ 8.97505986e-01 -4.26094205e-01 -1.13695792e-01 2.56413690e+02] [ 4.22528443e-01 9.04677797e-01 -5.50254274e-02 3.87712940e+01] [ 1.26304074e-01 1.34594447e-03 9.91990660e-01 2.56924622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44863999999995 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:256.47, Y:38.80, Z:25.69 [[ 8.99635141e-01 -4.21583903e-01 -1.13682126e-01 2.56465350e+02] [ 4.17978624e-01 9.06787167e-01 -5.50536460e-02 3.88012024e+01] [ 1.26295224e-01 2.01149584e-03 9.91990660e-01 2.56871132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50863999999996 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:256.51, Y:38.83, Z:25.69 [[ 9.00950902e-01 -4.18766679e-01 -1.13674719e-01 2.56514671e+02] [ 4.15137108e-01 9.08090631e-01 -5.50689371e-02 3.88336804e+01] [ 1.26287983e-01 2.42381450e-03 9.91990660e-01 2.56939312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56863999999996 meters Centerline goodness : 0.998774 with order 1 Centerline is valid? [True, True] Translation: X:256.56, Y:38.87, Z:25.70 [[ 9.01558157e-01 -4.17459730e-01 -1.13667335e-01 2.56563050e+02] [ 4.13817890e-01 9.08691635e-01 -5.50841734e-02 3.88686240e+01] [ 1.26283981e-01 2.62400908e-03 9.91990661e-01 2.57017017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62863999999996 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:256.61, Y:38.90, Z:25.71 [[ 9.01591324e-01 -4.17390113e-01 -1.13659919e-01 2.56612442e+02] [ 4.13745794e-01 9.08723537e-01 -5.50994716e-02 3.89003018e+01] [ 1.26283418e-01 2.65089205e-03 9.91990661e-01 2.57074573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68863999999996 meters Centerline goodness : 0.994113 with order 1 Centerline is valid? [True, True] Translation: X:256.66, Y:38.93, Z:25.73 [[ 8.99800148e-01 -4.21239595e-01 -1.13652526e-01 2.56660191e+02] [ 4.17623866e-01 9.06946897e-01 -5.51147179e-02 3.89324641e+01] [ 1.26293307e-01 2.12822420e-03 9.91990661e-01 2.57273026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74863999999997 meters Centerline goodness : 0.998970 with order 1 Centerline is valid? [True, True] Translation: X:256.71, Y:38.97, Z:25.72 [[ 8.96154107e-01 -4.28943602e-01 -1.13645073e-01 2.56710815e+02] [ 4.25387371e-01 9.03330647e-01 -5.51300803e-02 3.89654459e+01] [ 1.26306773e-01 1.06186895e-03 9.91990661e-01 2.57200318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80863999999997 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:256.76, Y:38.99, Z:25.72 [[ 8.92496777e-01 -4.36504294e-01 -1.13637599e-01 2.56764704e+02] [ 4.33006899e-01 8.99702174e-01 -5.51454812e-02 3.89919756e+01] [ 1.26311235e-01 1.12996110e-05 9.91990661e-01 2.57246401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86863999999997 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:256.82, Y:39.02, Z:25.73 [[ 8.89544970e-01 -4.42488691e-01 -1.13637599e-01 2.56820227e+02] [ 4.39039768e-01 8.96773694e-01 -5.51454812e-02 3.90183631e+01] [ 1.26308462e-01 -8.37039944e-04 9.91990661e-01 2.57323499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92864 meters Centerline goodness : 0.994508 with order 1 Centerline is valid? [True, True] Translation: X:256.88, Y:39.04, Z:25.76 [[ 8.87930496e-01 -4.45713070e-01 -1.13663067e-01 2.56876438e+02] [ 4.42297120e-01 8.95174857e-01 -5.50929385e-02 3.90393633e+01] [ 1.26303963e-01 -1.35414716e-03 9.91990663e-01 2.57567950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:256.93, Y:39.07, Z:25.75 [[ 8.88341785e-01 -4.44886358e-01 -1.13688176e-01 2.56933959e+02] [ 4.41470302e-01 8.95586095e-01 -5.50410761e-02 3.90665482e+01] [ 1.26304574e-01 -1.29466569e-03 9.91990665e-01 2.57471713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:256.99, Y:39.09, Z:25.75 [[ 8.90431385e-01 -4.40682725e-01 -1.13713169e-01 2.56989844e+02] [ 4.37239066e-01 8.97662612e-01 -5.49893942e-02 3.90921746e+01] [ 1.26308936e-01 -7.55557402e-04 9.91990666e-01 2.57540496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:257.04, Y:39.12, Z:25.76 [[ 8.92188558e-01 -4.37107799e-01 -1.13738077e-01 2.57043153e+02] [ 4.33641738e-01 8.99409072e-01 -5.49378278e-02 3.91187393e+01] [ 1.26310811e-01 -3.06675926e-04 9.91990668e-01 2.57619320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:257.10, Y:39.14, Z:25.77 [[ 8.92618004e-01 -4.36230155e-01 -1.13738077e-01 2.57096616e+02] [ 4.32756995e-01 8.99835106e-01 -5.49378278e-02 3.91439486e+01] [ 1.26311052e-01 -1.82454125e-04 9.91990668e-01 2.57684790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22864 meters Centerline goodness : 0.992585 with order 1 Centerline is valid? [True, True] Translation: X:257.15, Y:39.17, Z:25.80 [[ 8.92374883e-01 -4.36728233e-01 -1.13734425e-01 2.57150238e+02] [ 4.33258138e-01 8.99593459e-01 -5.49453863e-02 3.91653528e+01] [ 1.26310946e-01 -2.44482583e-04 9.91990668e-01 2.57978308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:257.21, Y:39.19, Z:25.78 [[ 8.92280900e-01 -4.36920217e-01 -1.13734425e-01 2.57206488e+02] [ 4.33451675e-01 8.99500222e-01 -5.49453863e-02 3.91894269e+01] [ 1.26310891e-01 -2.71658366e-04 9.91990668e-01 2.57842544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34864 meters Centerline goodness : 0.987477 with order 1 Centerline is valid? [True, True] Translation: X:257.26, Y:39.21, Z:25.82 [[ 8.91718653e-01 -4.38068484e-01 -1.13727071e-01 2.57259224e+02] [ 4.34607298e-01 8.98941505e-01 -5.49606039e-02 3.92111898e+01] [ 1.26310493e-01 -4.17219277e-04 9.91990668e-01 2.58199275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:257.32, Y:39.24, Z:25.80 [[ 8.91737624e-01 -4.38029470e-01 -1.13728600e-01 2.57317100e+02] [ 4.34568370e-01 8.98960517e-01 -5.49574401e-02 3.92367063e+01] [ 1.26310499e-01 -4.15235300e-04 9.91990668e-01 2.57986850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46864 meters Centerline goodness : 0.994016 with order 1 Centerline is valid? [True, True] Translation: X:257.37, Y:39.26, Z:25.83 [[ 8.92143758e-01 -4.37201851e-01 -1.13727990e-01 2.57369149e+02] [ 4.33733890e-01 8.99363360e-01 -5.49587018e-02 3.92578929e+01] [ 1.26310834e-01 -2.96620780e-04 9.91990668e-01 2.58273355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52864 meters Centerline goodness : 0.995933 with order 1 Centerline is valid? [True, True] Translation: X:257.42, Y:39.28, Z:25.83 [[ 8.92008688e-01 -4.37479245e-01 -1.13720756e-01 2.57422732e+02] [ 4.34011622e-01 8.99228452e-01 -5.49736676e-02 3.92806535e+01] [ 1.26310778e-01 -3.19140478e-04 9.91990668e-01 2.58332767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58864 meters Centerline goodness : 0.994900 with order 1 Centerline is valid? [True, True] Translation: X:257.48, Y:39.30, Z:25.84 [[ 8.90517011e-01 -4.40509606e-01 -1.13713409e-01 2.57476072e+02] [ 4.37064610e-01 8.97747599e-01 -5.49888596e-02 3.93043565e+01] [ 1.26309061e-01 -7.31591955e-04 9.91990668e-01 2.58419459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64863999999994 meters Centerline goodness : 0.995736 with order 1 Centerline is valid? [True, True] Translation: X:257.53, Y:39.32, Z:25.85 [[ 8.88986290e-01 -4.43592497e-01 -1.13706085e-01 2.57531176e+02] [ 4.40170638e-01 8.96227856e-01 -5.50040005e-02 3.93249854e+01] [ 1.26305923e-01 -1.15227767e-03 9.91990668e-01 2.58491766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.59, Y:39.35, Z:25.84 [[ 8.87271933e-01 -4.47013525e-01 -1.13698833e-01 2.57587060e+02] [ 4.43617666e-01 8.94525727e-01 -5.50189864e-02 3.93503493e+01] [ 1.26300763e-01 -1.62200871e-03 9.91990669e-01 2.58364315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76863999999995 meters Centerline goodness : 0.996374 with order 1 Centerline is valid? [True, True] Translation: X:257.64, Y:39.37, Z:25.86 [[ 8.84533279e-01 -4.52410310e-01 -1.13691646e-01 2.57641106e+02] [ 4.49056795e-01 8.91806746e-01 -5.50338344e-02 3.93676234e+01] [ 1.26288851e-01 -2.37474811e-03 9.91990669e-01 2.58628607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.70, Y:39.39, Z:25.85 [[ 8.82613803e-01 -4.56145476e-01 -1.13684561e-01 2.57698094e+02] [ 4.52820855e-01 8.89900522e-01 -5.50484670e-02 3.93899764e+01] [ 1.26278059e-01 -2.89220304e-03 9.91990669e-01 2.58508080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.76, Y:39.41, Z:25.86 [[ 8.80270227e-01 -4.60653623e-01 -1.13677468e-01 2.57755007e+02] [ 4.57364423e-01 8.87573004e-01 -5.50631097e-02 3.94050915e+01] [ 1.26262073e-01 -3.52161347e-03 9.91990669e-01 2.58579828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:257.81, Y:39.42, Z:25.86 [[ 8.77972913e-01 -4.65019757e-01 -1.13667012e-01 2.57813925e+02] [ 4.61764078e-01 8.85290695e-01 -5.50846846e-02 3.94167255e+01] [ 1.26243815e-01 -4.12448214e-03 9.91990669e-01 2.58642986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:257.87, Y:39.42, Z:25.87 [[ 8.77053776e-01 -4.66752663e-01 -1.13660128e-01 2.57874854e+02] [ 4.63509604e-01 8.84377159e-01 -5.50988852e-02 3.94237006e+01] [ 1.26235973e-01 -4.35787576e-03 9.91990669e-01 2.58722666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:257.93, Y:39.44, Z:25.88 [[ 8.78423436e-01 -4.64176583e-01 -1.13632597e-01 2.57932740e+02] [ 4.60904714e-01 8.85733992e-01 -5.51556058e-02 3.94388051e+01] [ 1.26250195e-01 -3.92382303e-03 9.91990671e-01 2.58804829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12863999999996 meters Centerline goodness : 0.996461 with order 1 Centerline is valid? [True, True] Translation: X:257.99, Y:39.44, Z:25.91 [[ 8.83588996e-01 -4.54272602e-01 -1.13608491e-01 2.57992907e+02] [ 4.50912384e-01 8.90859364e-01 -5.52052149e-02 3.94446452e+01] [ 1.26287405e-01 -2.44875524e-03 9.91990673e-01 2.59089903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18863999999996 meters Centerline goodness : 0.995289 with order 1 Centerline is valid? [True, True] Translation: X:258.05, Y:39.46, Z:25.92 [[ 8.87723881e-01 -4.46139253e-01 -1.13604924e-01 2.58048499e+02] [ 4.42711472e-01 8.94962640e-01 -5.52125545e-02 3.94644405e+01] [ 1.26304651e-01 -1.28070011e-03 9.91990673e-01 2.59178804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24863999999997 meters Centerline goodness : 0.989352 with order 1 Centerline is valid? [True, True] Translation: X:258.10, Y:39.49, Z:25.93 [[ 8.93175590e-01 -4.35128431e-01 -1.13580872e-01 2.58102138e+02] [ 4.31605117e-01 9.00368333e-01 -5.52619896e-02 3.94877934e+01] [ 1.26310683e-01 3.36574573e-04 9.91990674e-01 2.59342390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30863999999997 meters Centerline goodness : 0.997742 with order 1 Centerline is valid? [True, True] Translation: X:258.16, Y:39.52, Z:25.93 [[ 8.97731322e-01 -4.25650236e-01 -1.13579706e-01 2.58157486e+02] [ 4.22050685e-01 9.04886218e-01 -5.52643860e-02 3.95150434e+01] [ 1.26300010e-01 1.67617762e-03 9.91990674e-01 2.59298692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:258.21, Y:39.54, Z:25.92 [[ 9.00022221e-01 -4.20784523e-01 -1.13579870e-01 2.58210641e+02] [ 4.17146337e-01 9.07157549e-01 -5.52640489e-02 3.95442646e+01] [ 1.26289093e-01 2.35944528e-03 9.91990674e-01 2.59207986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:258.26, Y:39.58, Z:25.93 [[ 9.04242907e-01 -4.11643555e-01 -1.13553285e-01 2.58257825e+02] [ 4.07926412e-01 9.11337420e-01 -5.53186212e-02 3.95811021e+01] [ 1.26256912e-01 3.70008679e-03 9.91990676e-01 2.59296961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:258.31, Y:39.62, Z:25.94 [[ 9.07243944e-01 -4.04993723e-01 -1.13527577e-01 2.58305518e+02] [ 4.01218008e-01 9.14307457e-01 -5.53713305e-02 3.96160919e+01] [ 1.26224152e-01 4.68599590e-03 9.91990678e-01 2.59381028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54864 meters Centerline goodness : 0.995487 with order 1 Centerline is valid? [True, True] Translation: X:258.35, Y:39.65, Z:25.97 [[ 9.07645996e-01 -4.04098995e-01 -1.13502196e-01 2.58350438e+02] [ 4.00309828e-01 9.14702300e-01 -5.54233089e-02 3.96514518e+01] [ 1.26217223e-01 4.86869979e-03 9.91990680e-01 2.59667453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60864 meters Centerline goodness : 0.994837 with order 1 Centerline is valid? [True, True] Translation: X:258.40, Y:39.68, Z:25.98 [[ 9.04241899e-01 -4.11666859e-01 -1.13476802e-01 2.58400672e+02] [ 4.07930257e-01 9.11326177e-01 -5.54752544e-02 3.96807528e+01] [ 1.26251704e-01 3.87242846e-03 9.91990681e-01 2.59759807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66864 meters Centerline goodness : 0.997402 with order 1 Centerline is valid? [True, True] Translation: X:258.45, Y:39.71, Z:25.98 [[ 9.01448014e-01 -4.17756225e-01 -1.13451373e-01 2.58451225e+02] [ 4.14060954e-01 9.08553936e-01 -5.55272096e-02 3.97120413e+01] [ 1.26273529e-01 3.07910894e-03 9.91990683e-01 2.59798517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72864 meters Centerline goodness : 0.998136 with order 1 Centerline is valid? [True, True] Translation: X:258.50, Y:39.74, Z:25.99 [[ 8.98059460e-01 -4.24993251e-01 -1.13445775e-01 2.58502655e+02] [ 4.21353809e-01 9.05194137e-01 -5.55386445e-02 3.97373953e+01] [ 1.26294000e-01 2.07619552e-03 9.91990683e-01 2.59871648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78864 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:258.55, Y:39.76, Z:25.99 [[ 8.95156656e-01 -4.31081705e-01 -1.13415716e-01 2.58554911e+02] [ 4.27483026e-01 9.02311978e-01 -5.55999615e-02 3.97626730e+01] [ 1.26304485e-01 1.28738205e-03 9.91990685e-01 2.59931223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84864 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:258.61, Y:39.78, Z:26.00 [[ 8.90873061e-01 -4.39872881e-01 -1.13388876e-01 2.58610471e+02] [ 4.36337855e-01 8.98060041e-01 -5.56546452e-02 3.97829862e+01] [ 1.26310988e-01 1.05365271e-04 9.91990687e-01 2.59983058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90864 meters Centerline goodness : 0.998772 with order 1 Centerline is valid? [True, True] Translation: X:258.67, Y:39.80, Z:26.01 [[ 8.88408533e-01 -4.44836421e-01 -1.13361533e-01 2.58665815e+02] [ 4.41334447e-01 8.95611674e-01 -5.57102833e-02 3.98027432e+01] [ 1.26309876e-01 -5.36858684e-04 9.91990689e-01 2.60079042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96864 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:258.72, Y:39.82, Z:26.02 [[ 8.88498115e-01 -4.44664340e-01 -1.13334570e-01 2.58721900e+02] [ 4.41153980e-01 8.95697170e-01 -5.57650839e-02 3.98213273e+01] [ 1.26310198e-01 -4.50824602e-04 9.91990691e-01 2.60178871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02864 meters Centerline goodness : 0.997746 with order 1 Centerline is valid? [True, True] Translation: X:258.78, Y:39.84, Z:26.03 [[ 8.88683074e-01 -4.44298218e-01 -1.13320282e-01 2.58775095e+02] [ 4.40781192e-01 8.95878875e-01 -5.57941034e-02 3.98441712e+01] [ 1.26310467e-01 -3.66173565e-04 9.91990691e-01 2.60270355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:258.83, Y:39.87, Z:26.01 [[ 8.90003199e-01 -4.41654765e-01 -1.13293313e-01 2.58832921e+02] [ 4.38109401e-01 8.97185077e-01 -5.58488118e-02 3.98655474e+01] [ 1.26310964e-01 7.07556484e-05 9.91990693e-01 2.60121670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.89, Y:39.88, Z:26.02 [[ 8.92524836e-01 -4.36538583e-01 -1.13284957e-01 2.58888788e+02] [ 4.32949900e-01 8.99685168e-01 -5.58657566e-02 3.98840533e+01] [ 1.26308354e-01 8.14864532e-04 9.91990693e-01 2.60199413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:258.94, Y:39.91, Z:26.03 [[ 8.96764938e-01 -4.27767679e-01 -1.13258371e-01 2.58940395e+02] [ 4.24102172e-01 9.03886246e-01 -5.59196037e-02 3.99111017e+01] [ 1.26293283e-01 2.11361879e-03 9.91990695e-01 2.60266261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:258.99, Y:39.94, Z:26.03 [[ 9.02744235e-01 -4.15007741e-01 -1.13231714e-01 2.58990006e+02] [ 4.11234860e-01 9.09809240e-01 -5.59735310e-02 3.99410221e+01] [ 1.26248708e-01 3.96495451e-03 9.91990697e-01 2.60349017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.04, Y:39.97, Z:26.04 [[ 9.06215743e-01 -4.07379942e-01 -1.13201637e-01 2.59038700e+02] [ 4.03540038e-01 9.13244543e-01 -5.60342938e-02 3.99741067e+01] [ 1.26208024e-01 5.09776651e-03 9.91990699e-01 2.60438768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.08, Y:40.01, Z:26.05 [[ 9.08851943e-01 -4.01471474e-01 -1.13175973e-01 2.59083579e+02] [ 3.97579460e-01 9.15852021e-01 -5.60860804e-02 4.00132223e+01] [ 1.26169405e-01 5.97750089e-03 9.91990701e-01 2.60505963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:259.13, Y:40.05, Z:26.06 [[ 9.08226793e-01 -4.02891858e-01 -1.13147002e-01 2.59127969e+02] [ 3.99003536e-01 9.15228921e-01 -5.61444659e-02 4.00542458e+01] [ 1.26175557e-01 5.84585432e-03 9.91990703e-01 2.60584206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.17, Y:40.09, Z:26.06 [[ 9.04864980e-01 -4.10393435e-01 -1.13122041e-01 2.59172620e+02] [ 4.06556917e-01 9.11895623e-01 -5.61947137e-02 4.00939591e+01] [ 1.26217436e-01 4.85808025e-03 9.91990705e-01 2.60647863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:259.22, Y:40.13, Z:26.07 [[ 8.99728743e-01 -4.21542598e-01 -1.13093001e-01 2.59220114e+02] [ 4.17785910e-01 9.06802361e-01 -5.62530975e-02 4.01299826e+01] [ 1.26266077e-01 3.36386633e-03 9.91990707e-01 2.60730425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62863999999996 meters Centerline goodness : 0.996816 with order 1 Centerline is valid? [True, True] Translation: X:259.27, Y:40.16, Z:26.10 [[ 8.95740133e-01 -4.29954957e-01 -1.13085585e-01 2.59267063e+02] [ 4.26262835e-01 9.02847666e-01 -5.62680025e-02 4.01619393e+01] [ 1.26291763e-01 2.19732612e-03 9.91990707e-01 2.61003758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68863999999996 meters Centerline goodness : 0.998235 with order 1 Centerline is valid? [True, True] Translation: X:259.32, Y:40.19, Z:26.10 [[ 8.90326892e-01 -4.41058795e-01 -1.13071500e-01 2.59319176e+02] [ 4.37451737e-01 8.97477969e-01 -5.62962928e-02 4.01902105e+01] [ 1.26309155e-01 6.58779544e-04 9.91990707e-01 2.61040562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74863999999997 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:259.37, Y:40.22, Z:26.11 [[ 8.84739639e-01 -4.52163619e-01 -1.13065614e-01 2.59370444e+02] [ 4.48644804e-01 8.91934547e-01 -5.63081107e-02 4.02166163e+01] [ 1.26307606e-01 -9.08282786e-04 9.91990707e-01 2.61132447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.43, Y:40.24, Z:26.10 [[ 8.79381911e-01 -4.62499019e-01 -1.13058000e-01 2.59428462e+02] [ 4.59062784e-01 8.86616623e-01 -5.63233938e-02 4.02362434e+01] [ 1.26288617e-01 -2.37094668e-03 9.91990708e-01 2.61018169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.49, Y:40.25, Z:26.11 [[ 8.76508770e-01 -4.67923011e-01 -1.13050575e-01 2.59485658e+02] [ 4.64529617e-01 8.83763674e-01 -5.63382942e-02 4.02527361e+01] [ 1.26271976e-01 -3.13433125e-03 9.91990708e-01 2.61075534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.54, Y:40.27, Z:26.12 [[ 8.76913296e-01 -4.67166196e-01 -1.13043426e-01 2.59540197e+02] [ 4.63764693e-01 8.84164402e-01 -5.63526344e-02 4.02729988e+01] [ 1.26275019e-01 -3.00917546e-03 9.91990708e-01 2.61164942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98864 meters Centerline goodness : 0.998429 with order 1 Centerline is valid? [True, True] Translation: X:259.59, Y:40.29, Z:26.14 [[ 8.80450226e-01 -4.60467361e-01 -1.13036322e-01 2.59593151e+02] [ 4.57008848e-01 8.87674314e-01 -5.63668816e-02 4.02891834e+01] [ 1.26294548e-01 -2.03036554e-03 9.91990708e-01 2.61434818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:259.65, Y:40.31, Z:26.13 [[ 8.81839604e-01 -4.57803611e-01 -1.13025513e-01 2.59651241e+02] [ 4.54320500e-01 8.89051863e-01 -5.63885464e-02 4.03092235e+01] [ 1.26300423e-01 -1.62415416e-03 9.91990708e-01 2.61312218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.71, Y:40.33, Z:26.14 [[ 8.82858650e-01 -4.55841773e-01 -1.12999483e-01 2.59708586e+02] [ 4.52335963e-01 8.90059901e-01 -5.64406608e-02 4.03261657e+01] [ 1.26304320e-01 -1.28460454e-03 9.91990710e-01 2.61374085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:259.76, Y:40.35, Z:26.16 [[ 8.84852997e-01 -4.51964764e-01 -1.12973559e-01 2.59760729e+02] [ 4.48420781e-01 8.92035537e-01 -5.64925045e-02 4.03471546e+01] [ 1.26309051e-01 -6.72129729e-04 9.91990712e-01 2.61641391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:259.81, Y:40.37, Z:26.17 [[ 8.87579631e-01 -4.46593038e-01 -1.12947140e-01 2.59814533e+02] [ 4.42998868e-01 8.94737188e-01 -5.65452753e-02 4.03703376e+01] [ 1.26310733e-01 1.52979209e-04 9.91990713e-01 2.61696391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:259.87, Y:40.40, Z:26.16 [[ 8.90283783e-01 -4.41184636e-01 -1.12919892e-01 2.59868315e+02] [ 4.37540090e-01 8.97415818e-01 -5.65996378e-02 4.03969511e+01] [ 1.26306988e-01 9.82759909e-04 9.91990715e-01 2.61633535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:259.92, Y:40.42, Z:26.18 [[ 8.92037624e-01 -4.37634668e-01 -1.12892759e-01 2.59920983e+02] [ 4.33954897e-01 8.99151547e-01 -5.66537055e-02 4.04190718e+01] [ 1.26301325e-01 1.54687106e-03 9.91990717e-01 2.61842701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:259.97, Y:40.44, Z:26.19 [[ 8.92554791e-01 -4.36580924e-01 -1.12885078e-01 2.59973395e+02] [ 4.32890821e-01 8.99663360e-01 -5.66690077e-02 4.04431674e+01] [ 1.26299176e-01 1.71328045e-03 9.91990717e-01 2.61927826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46864 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:260.03, Y:40.47, Z:26.20 [[ 8.92776437e-01 -4.36135552e-01 -1.12853950e-01 2.60025468e+02] [ 4.32434075e-01 8.99879087e-01 -5.67309297e-02 4.04676696e+01] [ 1.26297285e-01 1.84614365e-03 9.91990719e-01 2.61999522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.08, Y:40.50, Z:26.19 [[ 8.92331194e-01 -4.37053850e-01 -1.12822752e-01 2.60078707e+02] [ 4.33351847e-01 8.99433567e-01 -5.67929073e-02 4.04970852e+01] [ 1.26298129e-01 1.78613476e-03 9.91990722e-01 2.61925172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:260.13, Y:40.52, Z:26.20 [[ 8.91860143e-01 -4.38017579e-01 -1.12809957e-01 2.60129689e+02] [ 4.34320039e-01 8.98964840e-01 -5.68183110e-02 4.05227361e+01] [ 1.26299604e-01 1.67836196e-03 9.91990722e-01 2.61997482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:260.18, Y:40.55, Z:26.21 [[ 8.91095026e-01 -4.39580013e-01 -1.12778844e-01 2.60179412e+02] [ 4.35887123e-01 8.98202138e-01 -5.68800022e-02 4.05523384e+01] [ 1.26301511e-01 1.52664131e-03 9.91990725e-01 2.62050894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:260.23, Y:40.58, Z:26.23 [[ 8.91290490e-01 -4.39191545e-01 -1.12747726e-01 2.60228185e+02] [ 4.35487764e-01 8.98391930e-01 -5.69416179e-02 4.05797193e+01] [ 1.26299924e-01 1.65126757e-03 9.91990727e-01 2.62271299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:260.28, Y:40.61, Z:26.23 [[ 8.89628323e-01 -4.42551240e-01 -1.12737957e-01 2.60278292e+02] [ 4.38871829e-01 8.96742420e-01 -5.69609523e-02 4.06103890e+01] [ 1.26305049e-01 1.19656312e-03 9.91990727e-01 2.62340212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82863999999995 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:260.33, Y:40.64, Z:26.24 [[ 8.88521734e-01 -4.44775846e-01 -1.12710134e-01 2.60329808e+02] [ 4.41107269e-01 8.95641423e-01 -5.70159543e-02 4.06387060e+01] [ 1.26307184e-01 9.42655204e-04 9.91990729e-01 2.62419300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88863999999995 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:260.38, Y:40.67, Z:26.25 [[ 8.86797074e-01 -4.48208452e-01 -1.12694870e-01 2.60382057e+02] [ 4.44563602e-01 8.93928938e-01 -5.70461082e-02 4.06651306e+01] [ 1.26309753e-01 4.88284481e-04 9.91990730e-01 2.62473736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94863999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:260.43, Y:40.69, Z:26.26 [[ 8.85570864e-01 -4.50633261e-01 -1.12667249e-01 2.60433992e+02] [ 4.47001004e-01 8.92709148e-01 -5.71006097e-02 4.06898005e+01] [ 1.26310517e-01 2.04263055e-04 9.91990732e-01 2.62550609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:260.49, Y:40.71, Z:26.25 [[ 8.81223597e-01 -4.59084153e-01 -1.12635303e-01 2.60490044e+02] [ 4.55512303e-01 8.88392295e-01 -5.71635569e-02 4.07122902e+01] [ 1.26307218e-01 -9.32890766e-04 9.91990734e-01 2.62490587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06863999999996 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:260.54, Y:40.73, Z:26.27 [[ 8.81441822e-01 -4.58671769e-01 -1.12607828e-01 2.60542359e+02] [ 4.55089656e-01 8.88605395e-01 -5.72176283e-02 4.07335958e+01] [ 1.26308035e-01 -8.12647318e-04 9.91990736e-01 2.62726910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:260.60, Y:40.76, Z:26.26 [[ 8.80356009e-01 -4.60758952e-01 -1.12581014e-01 2.60599544e+02] [ 4.57187082e-01 8.87524693e-01 -5.72703393e-02 4.07553502e+01] [ 1.26306252e-01 -1.05229805e-03 9.91990738e-01 2.62644715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:260.65, Y:40.78, Z:26.27 [[ 8.80887470e-01 -4.59748334e-01 -1.12555473e-01 2.60653669e+02] [ 4.56161830e-01 8.88048842e-01 -5.73204931e-02 4.07757908e+01] [ 1.26307759e-01 -8.50606367e-04 9.91990739e-01 2.62719260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24863999999997 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:260.71, Y:40.80, Z:26.29 [[ 8.82103639e-01 -4.57418127e-01 -1.12524787e-01 2.60706384e+02] [ 4.53805027e-01 8.89251627e-01 -5.73806706e-02 4.07973308e+01] [ 1.26309808e-01 -4.48615586e-04 9.91990741e-01 2.62941962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:260.76, Y:40.82, Z:26.29 [[ 8.81097616e-01 -4.59359597e-01 -1.12497782e-01 2.60762289e+02] [ 4.55755494e-01 8.88250142e-01 -5.74335660e-02 4.08198776e+01] [ 1.26308831e-01 -6.66904104e-04 9.91990743e-01 2.62859997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:260.81, Y:40.84, Z:26.29 [[ 8.81173985e-01 -4.59219646e-01 -1.12470993e-01 2.60814450e+02] [ 4.55607716e-01 8.88322560e-01 -5.74859795e-02 4.08434550e+01] [ 1.26309212e-01 -5.87502499e-04 9.91990745e-01 2.62929106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42864 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:260.87, Y:40.87, Z:26.31 [[ 8.82705833e-01 -4.56276001e-01 -1.12439417e-01 2.60865492e+02] [ 4.52632371e-01 8.89838301e-01 -5.75476741e-02 4.08670636e+01] [ 1.26310523e-01 -9.60524559e-05 9.91990747e-01 2.63141625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48864 meters Centerline goodness : 0.999067 with order 1 Centerline is valid? [True, True] Translation: X:260.92, Y:40.89, Z:26.32 [[ 8.82531744e-01 -4.56615042e-01 -1.12429639e-01 2.60919436e+02] [ 4.52971719e-01 8.89664368e-01 -5.75667723e-02 4.08895520e+01] [ 1.26310498e-01 -1.22942686e-04 9.91990747e-01 2.63243473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54864 meters Centerline goodness : 0.999313 with order 1 Centerline is valid? [True, True] Translation: X:260.97, Y:40.91, Z:26.33 [[ 8.83773295e-01 -4.54214333e-01 -1.12401520e-01 2.60973078e+02] [ 4.50544658e-01 8.90892395e-01 -5.76216237e-02 4.09133508e+01] [ 1.26310227e-01 2.82547952e-04 9.91990749e-01 2.63299837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60864 meters Centerline goodness : 0.998722 with order 1 Centerline is valid? [True, True] Translation: X:261.03, Y:40.94, Z:26.34 [[ 8.84484267e-01 -4.52835253e-01 -1.12373547e-01 2.61026682e+02] [ 4.49147553e-01 8.91594045e-01 -5.76761258e-02 4.09361191e+01] [ 1.26309368e-01 5.41322475e-04 9.91990751e-01 2.63392595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66864 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:261.08, Y:40.96, Z:26.35 [[ 8.84569510e-01 -4.52675683e-01 -1.12345485e-01 2.61080791e+02] [ 4.48979764e-01 8.91675016e-01 -5.77307341e-02 4.09593174e+01] [ 1.26308962e-01 6.25997593e-04 9.91990753e-01 2.63460472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72864 meters Centerline goodness : 0.998628 with order 1 Centerline is valid? [True, True] Translation: X:261.13, Y:40.98, Z:26.36 [[ 8.83858849e-01 -4.54068695e-01 -1.12317212e-01 2.61134801e+02] [ 4.50376990e-01 8.90966543e-01 -5.77856895e-02 4.09811286e+01] [ 1.26309551e-01 4.89305108e-04 9.91990755e-01 2.63554306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78864 meters Centerline goodness : 0.998671 with order 1 Centerline is valid? [True, True] Translation: X:261.19, Y:41.00, Z:26.36 [[ 8.84475874e-01 -4.52872570e-01 -1.12289196e-01 2.61189014e+02] [ 4.49164348e-01 8.91574963e-01 -5.78400787e-02 4.10041639e+01] [ 1.26308421e-01 7.21850588e-04 9.91990757e-01 2.63603807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:261.24, Y:41.03, Z:26.35 [[ 8.84041553e-01 -4.53726794e-01 -1.12260981e-01 2.61243697e+02] [ 4.50018483e-01 8.91140594e-01 -5.78947898e-02 4.10291374e+01] [ 1.26308735e-01 6.61883487e-04 9.91990759e-01 2.63527224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90864 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:261.30, Y:41.05, Z:26.37 [[ 8.86795285e-01 -4.48322853e-01 -1.12253024e-01 2.61296290e+02] [ 4.44569332e-01 8.93870526e-01 -5.79102133e-02 4.10537847e+01] [ 1.26302142e-01 1.45025211e-03 9.91990759e-01 2.63710854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:261.35, Y:41.08, Z:26.37 [[ 8.86077195e-01 -4.49741447e-01 -1.12248989e-01 2.61353272e+02] [ 4.45998263e-01 8.93157909e-01 -5.79180337e-02 4.10756995e+01] [ 1.26304213e-01 1.25699471e-03 9.91990759e-01 2.63675364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.41, Y:41.10, Z:26.37 [[ 8.86453205e-01 -4.49000843e-01 -1.12245081e-01 2.61406375e+02] [ 4.45250784e-01 8.93530281e-01 -5.79256063e-02 4.10984811e+01] [ 1.26303025e-01 1.37112889e-03 9.91990759e-01 2.63735751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08864 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:261.46, Y:41.12, Z:26.38 [[ 8.88960294e-01 -4.44024589e-01 -1.12213014e-01 2.61459135e+02] [ 4.40227086e-01 8.96012022e-01 -5.79876604e-02 4.11216960e+01] [ 1.26292157e-01 2.14951941e-03 9.91990761e-01 2.63800721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14863999999994 meters Centerline goodness : 0.998284 with order 1 Centerline is valid? [True, True] Translation: X:261.51, Y:41.15, Z:26.40 [[ 8.93103571e-01 -4.35638956e-01 -1.12181602e-01 2.61508978e+02] [ 4.31767638e-01 9.00115045e-01 -5.80483670e-02 4.11484558e+01] [ 1.26264478e-01 3.40681849e-03 9.91990764e-01 2.64039104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20863999999995 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:261.56, Y:41.18, Z:26.40 [[ 8.93041065e-01 -4.35769203e-01 -1.12173339e-01 2.61563211e+02] [ 4.31896904e-01 9.00051997e-01 -5.80643300e-02 4.11764902e+01] [ 1.26264485e-01 3.40651318e-03 9.91990764e-01 2.63959207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26863999999995 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:261.61, Y:41.21, Z:26.40 [[ 8.94481849e-01 -4.32805049e-01 -1.12169566e-01 2.61612336e+02] [ 4.28908607e-01 9.01479392e-01 -5.80716180e-02 4.12059428e+01] [ 1.26252242e-01 3.83351583e-03 9.91990764e-01 2.64042336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32863999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:261.66, Y:41.24, Z:26.41 [[ 8.97560617e-01 -4.26391470e-01 -1.12139437e-01 2.61661067e+02] [ 4.22437791e-01 9.04525978e-01 -5.81297418e-02 4.12379328e+01] [ 1.26219060e-01 4.80303094e-03 9.91990766e-01 2.64121348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38863999999995 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:261.71, Y:41.27, Z:26.43 [[ 9.00422158e-01 -4.20321946e-01 -1.12113332e-01 2.61709922e+02] [ 4.16315084e-01 9.07357059e-01 -5.81800453e-02 4.12710544e+01] [ 1.26181173e-01 5.71213048e-03 9.91990768e-01 2.64303784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:261.76, Y:41.30, Z:26.43 [[ 9.00294383e-01 -4.20595561e-01 -1.12113332e-01 2.61760544e+02] [ 4.16590806e-01 9.07230501e-01 -5.81800453e-02 4.13049538e+01] [ 1.26182904e-01 5.67378443e-03 9.91990768e-01 2.64280364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50863999999996 meters Centerline goodness : 0.996177 with order 1 Centerline is valid? [True, True] Translation: X:261.80, Y:41.34, Z:26.46 [[ 9.02518991e-01 -4.15801492e-01 -1.12109720e-01 2.61804943e+02] [ 4.11759044e-01 9.09433209e-01 -5.81870051e-02 4.13417124e+01] [ 1.26150546e-01 6.35268600e-03 9.91990768e-01 2.64566868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56863999999996 meters Centerline goodness : 0.992729 with order 1 Centerline is valid? [True, True] Translation: X:261.85, Y:41.39, Z:26.45 [[ 9.11248945e-01 -3.96304914e-01 -1.12106091e-01 2.61846702e+02] [ 3.92113917e-01 9.18074144e-01 -5.81939964e-02 4.13906030e+01] [ 1.25984270e-01 9.07085928e-03 9.91990768e-01 2.64548084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62863999999996 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:261.90, Y:41.41, Z:26.47 [[ 9.03162815e-01 -4.14409039e-01 -1.12080679e-01 2.61900421e+02] [ 4.10349018e-01 9.10066727e-01 -5.82428992e-02 4.14118479e+01] [ 1.26137280e-01 6.61062420e-03 9.91990769e-01 2.64676385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68863999999996 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:261.95, Y:41.45, Z:26.48 [[ 9.03345777e-01 -4.14017032e-01 -1.12054920e-01 2.61945132e+02] [ 4.09947894e-01 9.10244318e-01 -5.82924151e-02 4.14524845e+01] [ 1.26131407e-01 6.72152842e-03 9.91990771e-01 2.64760649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74863999999997 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:261.99, Y:41.49, Z:26.48 [[ 9.00771849e-01 -4.19594430e-01 -1.12029415e-01 2.61991430e+02] [ 4.15561949e-01 9.07691880e-01 -5.83413921e-02 4.14892434e+01] [ 1.26167913e-01 5.99712173e-03 9.91990772e-01 2.64828939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.04, Y:41.53, Z:26.47 [[ 8.95894741e-01 -4.29916955e-01 -1.12000114e-01 2.62039958e+02] [ 4.25957239e-01 9.02856662e-01 -5.83975878e-02 4.15262494e+01] [ 1.26226162e-01 4.61083236e-03 9.91990774e-01 2.64744936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:262.09, Y:41.55, Z:26.48 [[ 8.94303318e-01 -4.33223886e-01 -1.11976071e-01 2.62090306e+02] [ 4.29284157e-01 9.01276568e-01 -5.84436542e-02 4.15547358e+01] [ 1.26240596e-01 4.19680057e-03 9.91990776e-01 2.64813022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.14, Y:41.59, Z:26.49 [[ 8.90359585e-01 -4.41279996e-01 -1.11945406e-01 2.62139168e+02] [ 4.37396009e-01 8.97364033e-01 -5.85023326e-02 4.15866779e+01] [ 1.26271690e-01 3.12363870e-03 9.91990778e-01 2.64899576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98864 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:262.19, Y:41.62, Z:26.51 [[ 8.89763276e-01 -4.42487986e-01 -1.11918255e-01 2.62186943e+02] [ 4.38606985e-01 8.96769377e-01 -5.85542290e-02 4.16169818e+01] [ 1.26274406e-01 3.01127423e-03 9.91990779e-01 2.65083859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.24, Y:41.65, Z:26.50 [[ 8.85615418e-01 -4.50734792e-01 -1.11908346e-01 2.62239164e+02] [ 4.46916654e-01 8.92655975e-01 -5.85731599e-02 4.16462810e+01] [ 1.26296615e-01 1.85958974e-03 9.91990780e-01 2.65034652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10864 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:262.29, Y:41.67, Z:26.53 [[ 8.83460177e-01 -4.54946578e-01 -1.11900525e-01 2.62289431e+02] [ 4.51160115e-01 8.90517819e-01 -5.85880980e-02 4.16735335e+01] [ 1.26303866e-01 1.27519758e-03 9.91990780e-01 2.65253663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:262.34, Y:41.70, Z:26.52 [[ 8.79637308e-01 -4.62295770e-01 -1.11896499e-01 2.62344782e+02] [ 4.58567298e-01 8.86725757e-01 -5.85957861e-02 4.16975591e+01] [ 1.26310092e-01 2.30964307e-04 9.91990780e-01 2.65185079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:262.40, Y:41.72, Z:26.54 [[ 8.80237754e-01 -4.61153447e-01 -1.11888318e-01 2.62397262e+02] [ 4.57413790e-01 8.87320308e-01 -5.86114034e-02 4.17212945e+01] [ 1.26309628e-01 4.12710328e-04 9.91990780e-01 2.65400394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:262.45, Y:41.74, Z:26.53 [[ 8.79553864e-01 -4.62457444e-01 -1.11884374e-01 2.62454389e+02] [ 4.58727330e-01 8.86641448e-01 -5.86189324e-02 4.17424181e+01] [ 1.26310085e-01 2.34088495e-04 9.91990780e-01 2.65346597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:262.51, Y:41.76, Z:26.56 [[ 8.81434113e-01 -4.58870011e-01 -1.11858026e-01 2.62507893e+02] [ 4.55104675e-01 8.88503046e-01 -5.86691669e-02 4.17616927e+01] [ 1.26307718e-01 8.05894431e-04 9.91990782e-01 2.65571864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.56, Y:41.78, Z:26.55 [[ 8.80210846e-01 -4.61218989e-01 -1.11829829e-01 2.62564178e+02] [ 4.57465695e-01 8.87286179e-01 -5.87228647e-02 4.17831783e+01] [ 1.26309162e-01 5.30191914e-04 9.91990783e-01 2.65499353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.62, Y:41.81, Z:26.56 [[ 8.80367954e-01 -4.60926003e-01 -1.11801096e-01 2.62618116e+02] [ 4.57163412e-01 8.87438346e-01 -5.87775197e-02 4.18052624e+01] [ 1.26308666e-01 6.34474497e-04 9.91990785e-01 2.65566892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52864 meters Centerline goodness : 0.999606 with order 1 Centerline is valid? [True, True] Translation: X:262.67, Y:41.83, Z:26.58 [[ 8.82300728e-01 -4.57223327e-01 -1.11768758e-01 2.62670768e+02] [ 4.53423284e-01 8.89351058e-01 -5.88389476e-02 4.18261903e+01] [ 1.26304203e-01 1.23508892e-03 9.91990788e-01 2.65798604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.73, Y:41.85, Z:26.57 [[ 8.80559760e-01 -4.60574124e-01 -1.11740711e-01 2.62728550e+02] [ 4.56794156e-01 8.87620872e-01 -5.88921648e-02 4.18472015e+01] [ 1.26307594e-01 8.15566808e-04 9.91990790e-01 2.65712158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:262.78, Y:41.87, Z:26.59 [[ 8.83334633e-01 -4.55236040e-01 -1.11714251e-01 2.62780318e+02] [ 4.51407063e-01 8.90369287e-01 -5.89423145e-02 4.18719550e+01] [ 1.26299604e-01 1.63718578e-03 9.91990791e-01 2.65914014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:262.83, Y:41.89, Z:26.60 [[ 8.84368541e-01 -4.53225229e-01 -1.11710229e-01 2.62833446e+02] [ 4.49379295e-01 8.91393939e-01 -5.89499364e-02 4.18948193e+01] [ 1.26295419e-01 1.93320532e-03 9.91990791e-01 2.65985327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76863999999995 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:262.89, Y:41.92, Z:26.61 [[ 8.87241558e-01 -4.47582890e-01 -1.11677995e-01 2.62885333e+02] [ 4.43684609e-01 8.94238043e-01 -5.90109387e-02 4.19188289e+01] [ 1.26278999e-01 2.80714940e-03 9.91990794e-01 2.66065956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82863999999995 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:262.94, Y:41.94, Z:26.62 [[ 8.89732978e-01 -4.42617699e-01 -1.11645865e-01 2.62938872e+02] [ 4.38672767e-01 8.96703263e-01 -5.90716666e-02 4.19436916e+01] [ 1.26259376e-01 3.58200945e-03 9.91990796e-01 2.66200125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:262.99, Y:41.97, Z:26.61 [[ 8.91143434e-01 -4.39771557e-01 -1.11643889e-01 2.62992079e+02] [ 4.35803898e-01 8.98100807e-01 -5.90753999e-02 4.19734489e+01] [ 1.26247148e-01 3.98981254e-03 9.91990796e-01 2.66075371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94863999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:263.04, Y:42.01, Z:26.63 [[ 8.95059995e-01 -4.31751348e-01 -1.11617111e-01 2.63039325e+02] [ 4.27715081e-01 9.01977789e-01 -5.91259516e-02 4.20064814e+01] [ 1.26203864e-01 5.18095217e-03 9.91990798e-01 2.66254846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:263.09, Y:42.04, Z:26.62 [[ 8.94348021e-01 -4.33225719e-01 -1.11611351e-01 2.63090454e+02] [ 4.29199503e-01 9.01271670e-01 -5.91368227e-02 4.20408249e+01] [ 1.26211741e-01 4.98536376e-03 9.91990798e-01 2.66223320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:263.14, Y:42.08, Z:26.63 [[ 8.94444139e-01 -4.33028545e-01 -1.11606278e-01 2.63137595e+02] [ 4.28999610e-01 9.01366206e-01 -5.91463959e-02 4.20760849e+01] [ 1.26210205e-01 5.02409748e-03 9.91990798e-01 2.66290605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.18, Y:42.11, Z:26.64 [[ 8.92496223e-01 -4.37036070e-01 -1.11579413e-01 2.63184466e+02] [ 4.33031903e-01 8.99432645e-01 -5.91970342e-02 4.21103986e+01] [ 1.26229405e-01 4.51568408e-03 9.91990799e-01 2.66372018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:263.23, Y:42.15, Z:26.66 [[ 8.91811648e-01 -4.38439146e-01 -1.11548638e-01 2.63231270e+02] [ 4.34438657e-01 8.98750189e-01 -5.92549680e-02 4.21455100e+01] [ 1.26234057e-01 4.38323014e-03 9.91990801e-01 2.66555679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.28, Y:42.18, Z:26.65 [[ 8.88891758e-01 -4.44330077e-01 -1.11544726e-01 2.63282960e+02] [ 4.40374659e-01 8.95856091e-01 -5.92623311e-02 4.21767701e+01] [ 1.26260059e-01 3.55632684e-03 9.91990801e-01 2.66519476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:263.33, Y:42.21, Z:26.67 [[ 8.88083506e-01 -4.45944302e-01 -1.11540869e-01 2.63331521e+02] [ 4.42000633e-01 8.95054499e-01 -5.92695907e-02 4.22085502e+01] [ 1.26266093e-01 3.33521126e-03 9.91990801e-01 2.66704736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.39, Y:42.24, Z:26.67 [[ 8.81816917e-01 -4.58212225e-01 -1.11536910e-01 2.63385377e+02] [ 4.54364626e-01 8.88841391e-01 -5.92770407e-02 4.22369515e+01] [ 1.26300087e-01 1.59307109e-03 9.91990802e-01 2.66673286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.44, Y:42.26, Z:26.67 [[ 8.75538720e-01 -4.70097762e-01 -1.11534947e-01 2.63437172e+02] [ 4.66345058e-01 8.82614345e-01 -5.92807329e-02 4.22619620e+01] [ 1.26310084e-01 -1.11194377e-04 9.91990802e-01 2.66728815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.49, Y:42.29, Z:26.68 [[ 8.72494768e-01 -4.75726325e-01 -1.11522838e-01 2.63490572e+02] [ 4.72016353e-01 8.79592892e-01 -5.93035051e-02 4.22861969e+01] [ 1.26306934e-01 -8.98605300e-04 9.91990802e-01 2.66804707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54864 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:263.54, Y:42.31, Z:26.71 [[ 8.73038626e-01 -4.74729373e-01 -1.11514934e-01 2.63541907e+02] [ 4.71009398e-01 8.80131512e-01 -5.93183630e-02 4.23080018e+01] [ 1.26307977e-01 -7.37360047e-04 9.91990802e-01 2.67092442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60864 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:263.59, Y:42.33, Z:26.72 [[ 8.74972087e-01 -4.71158161e-01 -1.11507108e-01 2.63594574e+02] [ 4.67407361e-01 8.82048721e-01 -5.93330713e-02 4.23346159e+01] [ 1.26309963e-01 -2.04461938e-04 9.91990802e-01 2.67150406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:263.64, Y:42.37, Z:26.72 [[ 8.78929557e-01 -4.63735700e-01 -1.11499036e-01 2.63644087e+02] [ 4.59923215e-01 8.85973150e-01 -5.93482362e-02 4.23655602e+01] [ 1.26307048e-01 8.81923642e-04 9.91990802e-01 2.67199823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:263.69, Y:42.39, Z:26.73 [[ 8.79587784e-01 -4.62488415e-01 -1.11488993e-01 2.63694528e+02] [ 4.58663552e-01 8.86624663e-01 -5.93670961e-02 4.23943935e+01] [ 1.26305486e-01 1.08263476e-03 9.91990802e-01 2.67263875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:263.74, Y:42.42, Z:26.73 [[ 8.79130316e-01 -4.63360386e-01 -1.11476631e-01 2.63744072e+02] [ 4.59539561e-01 8.86169388e-01 -5.93903008e-02 4.24230774e+01] [ 1.26306291e-01 9.83891831e-04 9.91990803e-01 2.67338532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:263.80, Y:42.45, Z:26.73 [[ 8.75695103e-01 -4.69823151e-01 -1.11464319e-01 2.63795797e+02] [ 4.66051335e-01 8.82760557e-01 -5.94134001e-02 4.24549985e+01] [ 1.26310095e-01 7.99289467e-05 9.91990803e-01 2.67250339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90864 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:263.84, Y:42.48, Z:26.75 [[ 8.74210416e-01 -4.72581928e-01 -1.11456130e-01 2.63843616e+02] [ 4.68830452e-01 8.81286690e-01 -5.94287570e-02 4.24819847e+01] [ 1.26309761e-01 -3.00789468e-04 9.91990803e-01 2.67518626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96864 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:263.90, Y:42.51, Z:26.76 [[ 8.70598986e-01 -4.79205188e-01 -1.11444126e-01 2.63895668e+02] [ 4.75504661e-01 8.77702036e-01 -5.94512587e-02 4.25088033e+01] [ 1.26304088e-01 -1.23399605e-03 9.91990804e-01 2.67604320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02864 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:263.95, Y:42.53, Z:26.77 [[ 8.68134979e-01 -4.83656540e-01 -1.11436127e-01 2.63948824e+02] [ 4.79990507e-01 8.75255893e-01 -5.94662486e-02 4.25329897e+01] [ 1.26296367e-01 -1.86355274e-03 9.91990804e-01 2.67689318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.01, Y:42.56, Z:26.75 [[ 8.66942191e-01 -4.85793146e-01 -1.11428262e-01 2.64006248e+02] [ 4.82142768e-01 8.74071143e-01 -5.94809834e-02 4.25574869e+01] [ 1.26291682e-01 -2.15775659e-03 9.91990804e-01 2.67548542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14863999999994 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:264.06, Y:42.58, Z:26.78 [[ 8.70416517e-01 -4.79541152e-01 -1.11424285e-01 2.64057235e+02] [ 4.75838608e-01 8.77518516e-01 -5.94884317e-02 4.25799586e+01] [ 1.26304024e-01 -1.24026329e-03 9.91990804e-01 2.67824321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.11, Y:42.61, Z:26.77 [[ 8.72920039e-01 -4.74970497e-01 -1.11416480e-01 2.64112577e+02] [ 4.71228900e-01 8.80001541e-01 -5.95030465e-02 4.26055340e+01] [ 1.26308866e-01 -5.61263670e-04 9.91990804e-01 2.67681673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26863999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:264.16, Y:42.63, Z:26.79 [[ 8.74930790e-01 -4.71258188e-01 -1.11408406e-01 2.64164520e+02] [ 4.67484618e-01 8.81995306e-01 -5.95181601e-02 4.26283041e+01] [ 1.26310111e-01 -7.44524405e-06 9.91990804e-01 2.67935594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:264.22, Y:42.65, Z:26.80 [[ 8.73688547e-01 -4.73559150e-01 -1.11400426e-01 2.64217935e+02] [ 4.69802281e-01 8.80761958e-01 -5.95330926e-02 4.26522730e+01] [ 1.26309698e-01 -3.22793075e-04 9.91990804e-01 2.68021027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.27, Y:42.68, Z:26.79 [[ 8.72446431e-01 -4.75850335e-01 -1.11371827e-01 2.64272174e+02] [ 4.72105218e-01 8.79526069e-01 -5.95865475e-02 4.26806179e+01] [ 1.26308703e-01 -5.93149714e-04 9.91990806e-01 2.67909337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44863999999995 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:264.32, Y:42.71, Z:26.82 [[ 8.72355000e-01 -4.76024166e-01 -1.11345173e-01 2.64321361e+02] [ 4.72274107e-01 8.79432020e-01 -5.96363113e-02 4.27056940e+01] [ 1.26308836e-01 -5.61407973e-04 9.91990808e-01 2.68189697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50863999999996 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:264.37, Y:42.73, Z:26.83 [[ 8.71552082e-01 -4.77494969e-01 -1.11335184e-01 2.64374355e+02] [ 4.73754472e-01 8.78634160e-01 -5.96549540e-02 4.27299818e+01] [ 1.26307837e-01 -7.53142154e-04 9.91990808e-01 2.68284669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.43, Y:42.75, Z:26.81 [[ 8.68543385e-01 -4.82952417e-01 -1.11307460e-01 2.64431281e+02] [ 4.79249792e-01 8.75645336e-01 -5.97066402e-02 4.27528747e+01] [ 1.26301324e-01 -1.48626943e-03 9.91990810e-01 2.68149983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:264.49, Y:42.77, Z:26.82 [[ 8.66611368e-01 -4.86417144e-01 -1.11279373e-01 2.64485720e+02] [ 4.82736196e-01 8.73724576e-01 -5.97589412e-02 4.27739918e+01] [ 1.26295297e-01 -1.93080362e-03 9.91990811e-01 2.68219328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68863999999996 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:264.54, Y:42.79, Z:26.85 [[ 8.69236527e-01 -4.81716676e-01 -1.11251534e-01 2.64538629e+02] [ 4.77990632e-01 8.76326214e-01 -5.98107238e-02 4.27907441e+01] [ 1.26304459e-01 -1.18752527e-03 9.91990813e-01 2.68508396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:264.59, Y:42.81, Z:26.86 [[ 8.72480804e-01 -4.75822405e-01 -1.11221790e-01 2.64592294e+02] [ 4.72041415e-01 8.79541339e-01 -5.98659845e-02 4.28134248e+01] [ 1.26309739e-01 -2.69368821e-04 9.91990815e-01 2.68561662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.64, Y:42.84, Z:26.86 [[ 8.75372730e-01 -4.70488723e-01 -1.11188784e-01 2.64644965e+02] [ 4.66656933e-01 8.82405822e-01 -5.99272239e-02 4.28388717e+01] [ 1.26308714e-01 5.71640534e-04 9.91990818e-01 2.68613628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:264.70, Y:42.86, Z:26.87 [[ 8.80300829e-01 -4.61209411e-01 -1.11159029e-01 2.64696943e+02] [ 4.57296531e-01 8.87289129e-01 -5.99823671e-02 4.28647695e+01] [ 1.26294630e-01 1.96988913e-03 9.91990819e-01 2.68708494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92864 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:264.75, Y:42.89, Z:26.88 [[ 8.81403052e-01 -4.59106545e-01 -1.11129834e-01 2.64746928e+02] [ 4.55170181e-01 8.88378149e-01 -6.00364079e-02 4.28937346e+01] [ 1.26288424e-01 2.33328640e-03 9.91990821e-01 2.68812943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:264.80, Y:42.93, Z:26.87 [[ 8.79818993e-01 -4.62141817e-01 -1.11101217e-01 2.64799251e+02] [ 4.58222837e-01 8.86803871e-01 -6.00893205e-02 4.29251457e+01] [ 1.26294777e-01 1.95861079e-03 9.91990823e-01 2.68681728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04864 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:264.85, Y:42.95, Z:26.89 [[ 8.79680953e-01 -4.62411447e-01 -1.11072388e-01 2.64849211e+02] [ 4.58487887e-01 8.86663256e-01 -6.01425620e-02 4.29531772e+01] [ 1.26294414e-01 1.98092168e-03 9.91990825e-01 2.68927758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10864 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:264.90, Y:42.98, Z:26.90 [[ 8.78979730e-01 -4.63743972e-01 -1.11068281e-01 2.64899821e+02] [ 4.59830039e-01 8.85967434e-01 -6.01501461e-02 4.29823405e+01] [ 1.26297148e-01 1.79822719e-03 9.91990825e-01 2.69041206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:264.95, Y:43.01, Z:26.91 [[ 8.77819320e-01 -4.65940051e-01 -1.11054542e-01 2.64950654e+02] [ 4.62040393e-01 8.84815000e-01 -6.01755012e-02 4.30116202e+01] [ 1.26300901e-01 1.51153318e-03 9.91990825e-01 2.69101073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22864 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:265.00, Y:43.04, Z:26.92 [[ 8.76956974e-01 -4.67568053e-01 -1.11025138e-01 2.65002661e+02] [ 4.63674520e-01 8.83956064e-01 -6.02297045e-02 4.30393521e+01] [ 1.26302830e-01 1.33933196e-03 9.91990827e-01 2.69154303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28864 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:265.05, Y:43.07, Z:26.93 [[ 8.76266392e-01 -4.68867953e-01 -1.10995733e-01 2.65054339e+02] [ 4.64977945e-01 8.83267439e-01 -6.02838462e-02 4.30664441e+01] [ 1.26304080e-01 1.21414068e-03 9.91990829e-01 2.69262531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34864 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:265.10, Y:43.10, Z:26.93 [[ 8.76811573e-01 -4.67854085e-01 -1.10968555e-01 2.65104712e+02] [ 4.63949655e-01 8.83804586e-01 -6.03338324e-02 4.30958862e+01] [ 1.26301948e-01 1.41757944e-03 9.91990831e-01 2.69318959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40864 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:265.16, Y:43.12, Z:26.94 [[ 8.76174599e-01 -4.69052842e-01 -1.10939190e-01 2.65155155e+02] [ 4.65151150e-01 8.83169136e-01 -6.03877805e-02 4.31229102e+01] [ 1.26303129e-01 1.30674752e-03 9.91990833e-01 2.69398266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46864 meters Centerline goodness : 0.998333 with order 1 Centerline is valid? [True, True] Translation: X:265.21, Y:43.15, Z:26.95 [[ 8.74722693e-01 -4.71762854e-01 -1.10905457e-01 2.65206938e+02] [ 4.67874985e-01 8.81724921e-01 -6.04496711e-02 4.31502704e+01] [ 1.26306014e-01 9.86810329e-04 9.91990835e-01 2.69491063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52864 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:265.26, Y:43.18, Z:26.95 [[ 8.74408354e-01 -4.72351566e-01 -1.10878439e-01 2.65257860e+02] [ 4.68462133e-01 8.81409711e-01 -6.04991865e-02 4.31797290e+01] [ 1.26306219e-01 9.58643858e-04 9.91990837e-01 2.69539500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58863999999994 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:265.31, Y:43.21, Z:26.96 [[ 8.74987274e-01 -4.71285331e-01 -1.10848574e-01 2.65308145e+02] [ 4.67380439e-01 8.81980020e-01 -6.05538577e-02 4.32086321e+01] [ 1.26304373e-01 1.17539961e-03 9.91990839e-01 2.69615107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64863999999994 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:265.36, Y:43.24, Z:26.97 [[ 8.75176239e-01 -4.70941282e-01 -1.10819037e-01 2.65358853e+02] [ 4.67026803e-01 8.82163620e-01 -6.06078661e-02 4.32374695e+01] [ 1.26303269e-01 1.28710384e-03 9.91990841e-01 2.69687203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70863999999995 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:265.41, Y:43.27, Z:26.98 [[ 8.75664175e-01 -4.70040284e-01 -1.10789821e-01 2.65409115e+02] [ 4.66111864e-01 8.82643725e-01 -6.06612261e-02 4.32669979e+01] [ 1.26301160e-01 1.47841267e-03 9.91990842e-01 2.69811605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76863999999995 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:265.46, Y:43.30, Z:26.99 [[ 8.76109646e-01 -4.69215852e-01 -1.10762687e-01 2.65458819e+02] [ 4.65274606e-01 8.83081960e-01 -6.07107295e-02 4.32981303e+01] [ 1.26298968e-01 1.65419007e-03 9.91990844e-01 2.69881415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82863999999995 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:265.51, Y:43.33, Z:26.99 [[ 8.76927555e-01 -4.67692370e-01 -1.10733510e-01 2.65507248e+02] [ 4.63732299e-01 8.83889192e-01 -6.07639009e-02 4.33287630e+01] [ 1.26294966e-01 1.93483384e-03 9.91990846e-01 2.69946958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88863999999995 meters Centerline goodness : 0.999362 with order 1 Centerline is valid? [True, True] Translation: X:265.56, Y:43.36, Z:27.00 [[ 8.76379426e-01 -4.68726558e-01 -1.10700113e-01 2.65557101e+02] [ 4.64767025e-01 8.83341367e-01 -6.08246836e-02 4.33594490e+01] [ 1.26296134e-01 1.85573899e-03 9.91990848e-01 2.69999691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94863999999995 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:265.61, Y:43.39, Z:27.01 [[ 8.76123744e-01 -4.69211166e-01 -1.10670982e-01 2.65607198e+02] [ 4.65248796e-01 8.83084068e-01 -6.08776419e-02 4.33901241e+01] [ 1.26296251e-01 1.84680625e-03 9.91990850e-01 2.70083106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00863999999996 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:265.66, Y:43.42, Z:27.01 [[ 8.76311591e-01 -4.68867132e-01 -1.10641801e-01 2.65656383e+02] [ 4.64895339e-01 8.83266541e-01 -6.09306315e-02 4.34220936e+01] [ 1.26294571e-01 1.95736092e-03 9.91990852e-01 2.70117261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06863999999996 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:265.70, Y:43.45, Z:27.02 [[ 8.75995430e-01 -4.69459975e-01 -1.10631543e-01 2.65703696e+02] [ 4.65490539e-01 8.82951724e-01 -6.09492509e-02 4.34542383e+01] [ 1.26295546e-01 1.89332845e-03 9.91990852e-01 2.70197036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12863999999996 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:265.75, Y:43.49, Z:27.03 [[ 8.75298388e-01 -4.70766039e-01 -1.10598682e-01 2.65749238e+02] [ 4.66799457e-01 8.82256307e-01 -6.10088234e-02 4.34919692e+01] [ 1.26297267e-01 1.77352002e-03 9.91990854e-01 2.70270339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18863999999996 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:265.80, Y:43.53, Z:27.04 [[ 8.74520525e-01 -4.72211402e-01 -1.10590425e-01 2.65796789e+02] [ 4.68254428e-01 8.81483913e-01 -6.10237876e-02 4.35270722e+01] [ 1.26299809e-01 1.58209864e-03 9.91990854e-01 2.70364028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24863999999997 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:265.84, Y:43.56, Z:27.04 [[ 8.73623089e-01 -4.73875995e-01 -1.10563282e-01 2.65843335e+02] [ 4.69926070e-01 8.80590476e-01 -6.10729260e-02 4.35635586e+01] [ 1.26301967e-01 1.39814974e-03 9.91990856e-01 2.70428570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30863999999997 meters Centerline goodness : 0.997844 with order 1 Centerline is valid? [True, True] Translation: X:265.89, Y:43.59, Z:27.06 [[ 8.71715652e-01 -4.77377662e-01 -1.10554917e-01 2.65893510e+02] [ 4.73453806e-01 8.78697754e-01 -6.10880646e-02 4.35946839e+01] [ 1.26306435e-01 9.08775851e-04 9.91990856e-01 2.70563223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36863999999997 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:265.95, Y:43.62, Z:27.06 [[ 8.68774217e-01 -4.82710512e-01 -1.10552800e-01 2.65946246e+02] [ 4.78829028e-01 8.75779962e-01 -6.10918966e-02 4.36222706e+01] [ 1.26309627e-01 1.39175175e-04 9.91990856e-01 2.70602945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42864 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:266.00, Y:43.65, Z:27.07 [[ 8.67647881e-01 -4.84733068e-01 -1.10548666e-01 2.65996661e+02] [ 4.80866961e-01 8.74662124e-01 -6.10993753e-02 4.36509073e+01] [ 1.26309619e-01 -1.46457654e-04 9.91990856e-01 2.70683075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48864 meters Centerline goodness : 0.998432 with order 1 Centerline is valid? [True, True] Translation: X:266.05, Y:43.67, Z:27.08 [[ 8.67903053e-01 -4.84277942e-01 -1.10540334e-01 2.66049349e+02] [ 4.80406238e-01 8.74914208e-01 -6.11144457e-02 4.36738756e+01] [ 1.26309687e-01 -6.28519958e-05 9.91990856e-01 2.70766141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54864 meters Centerline goodness : 0.998385 with order 1 Centerline is valid? [True, True] Translation: X:266.10, Y:43.70, Z:27.09 [[ 8.70611128e-01 -4.79395300e-01 -1.10527873e-01 2.66100058e+02] [ 4.75481416e-01 8.77598823e-01 -6.11369746e-02 4.37025312e+01] [ 1.26307909e-01 6.72580979e-04 9.91990857e-01 2.70859414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60864 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:266.15, Y:43.73, Z:27.09 [[ 8.72844308e-01 -4.75319106e-01 -1.10519512e-01 2.66151836e+02] [ 4.71370677e-01 8.79812541e-01 -6.11520841e-02 4.37325908e+01] [ 1.26303207e-01 1.28059120e-03 9.91990857e-01 2.70890157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66864 meters Centerline goodness : 0.998042 with order 1 Centerline is valid? [True, True] Translation: X:266.20, Y:43.77, Z:27.10 [[ 8.74183148e-01 -4.72853232e-01 -1.10515357e-01 2.66200337e+02] [ 4.68884198e-01 8.81139667e-01 -6.11595931e-02 4.37651127e+01] [ 1.26298976e-01 1.64578112e-03 9.91990857e-01 2.70989181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72864 meters Centerline goodness : 0.997013 with order 1 Centerline is valid? [True, True] Translation: X:266.25, Y:43.79, Z:27.11 [[ 8.72602928e-01 -4.75765034e-01 -1.10506846e-01 2.66250648e+02] [ 4.71817269e-01 8.79571537e-01 -6.11749674e-02 4.37944411e+01] [ 1.26303587e-01 1.24241744e-03 9.91990857e-01 2.71070069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78864 meters Centerline goodness : 0.997744 with order 1 Centerline is valid? [True, True] Translation: X:266.30, Y:43.83, Z:27.12 [[ 8.70745129e-01 -4.79158669e-01 -1.10498371e-01 2.66299391e+02] [ 4.75236121e-01 8.77727964e-01 -6.11902723e-02 4.38269378e+01] [ 1.26307359e-01 7.68314463e-04 9.91990857e-01 2.71154945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84864 meters Centerline goodness : 0.996916 with order 1 Centerline is valid? [True, True] Translation: X:266.35, Y:43.86, Z:27.12 [[ 8.70273269e-01 -4.80017113e-01 -1.10489855e-01 2.66349205e+02] [ 4.76099501e-01 8.77258875e-01 -6.12056442e-02 4.38564019e+01] [ 1.26307963e-01 6.61471004e-04 9.91990857e-01 2.71235709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90864 meters Centerline goodness : 0.997547 with order 1 Centerline is valid? [True, True] Translation: X:266.40, Y:43.89, Z:27.13 [[ 8.70334528e-01 -4.79908002e-01 -1.10481309e-01 2.66398186e+02] [ 4.75987557e-01 8.77318543e-01 -6.12210682e-02 4.38881005e+01] [ 1.26307781e-01 6.95081308e-04 9.91990857e-01 2.71307805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96864 meters Centerline goodness : 0.991280 with order 1 Centerline is valid? [True, True] Translation: X:266.45, Y:43.92, Z:27.15 [[ 8.68097382e-01 -4.83944907e-01 -1.10472900e-01 2.66448761e+02] [ 4.80055010e-01 8.75098458e-01 -6.12362378e-02 4.39168923e+01] [ 1.26309630e-01 1.25948681e-04 9.91990858e-01 2.71475907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02864 meters Centerline goodness : 0.997701 with order 1 Centerline is valid? [True, True] Translation: X:266.50, Y:43.94, Z:27.15 [[ 8.65646247e-01 -4.88316269e-01 -1.10470796e-01 2.66503810e+02] [ 4.84461241e-01 8.72666583e-01 -6.12400339e-02 4.39444617e+01] [ 1.26308676e-01 -5.06613185e-04 9.91990858e-01 2.71465762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.56, Y:43.97, Z:27.13 [[ 8.62357932e-01 -4.94099661e-01 -1.10473170e-01 2.66557985e+02] [ 4.90292259e-01 8.69404212e-01 -6.12357506e-02 4.39716207e+01] [ 1.26302403e-01 -1.35700476e-03 9.91990858e-01 2.71337972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.61, Y:44.00, Z:27.14 [[ 8.60938003e-01 -4.96571483e-01 -1.10465007e-01 2.66610805e+02] [ 4.92782422e-01 8.67994162e-01 -6.12504714e-02 4.39956037e+01] [ 1.26298219e-01 -1.70235538e-03 9.91990858e-01 2.71417430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:266.67, Y:44.01, Z:27.15 [[ 8.57368016e-01 -5.02711981e-01 -1.10457006e-01 2.66666663e+02] [ 4.98971590e-01 8.64450094e-01 -6.12648970e-02 4.40148537e+01] [ 1.26283167e-01 -2.58834490e-03 9.91990858e-01 2.71485902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.72, Y:44.03, Z:27.16 [[ 8.54378974e-01 -5.07777091e-01 -1.10449061e-01 2.66722655e+02] [ 5.04076828e-01 8.61482100e-01 -6.12792179e-02 4.40340486e+01] [ 1.26266072e-01 -3.31913688e-03 9.91990858e-01 2.71575044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:266.78, Y:44.05, Z:27.16 [[ 8.53914255e-01 -5.08559908e-01 -1.10441229e-01 2.66779762e+02] [ 5.04864333e-01 8.61019822e-01 -6.12933298e-02 4.40508359e+01] [ 1.26263417e-01 -3.41858932e-03 9.91990858e-01 2.71640415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.83, Y:44.07, Z:27.17 [[ 8.55187156e-01 -5.06418198e-01 -1.10433403e-01 2.66834040e+02] [ 5.02703007e-01 8.62282486e-01 -6.13074276e-02 4.40722310e+01] [ 1.26271986e-01 -3.08587885e-03 9.91990858e-01 2.71699785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:266.89, Y:44.10, Z:27.18 [[ 8.59784608e-01 -4.98575471e-01 -1.10421590e-01 2.66888357e+02] [ 4.94792811e-01 8.66844199e-01 -6.13286962e-02 4.40951124e+01] [ 1.26295298e-01 -1.90633976e-03 9.91990859e-01 2.71783180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50863999999996 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:266.94, Y:44.12, Z:27.21 [[ 8.64784126e-01 -4.89854312e-01 -1.10413623e-01 2.66939665e+02] [ 4.85998615e-01 8.71804094e-01 -6.13430369e-02 4.41187767e+01] [ 1.26308199e-01 -6.12383112e-04 9.91990859e-01 2.72064514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56863999999996 meters Centerline goodness : 0.998286 with order 1 Centerline is valid? [True, True] Translation: X:266.99, Y:44.15, Z:27.22 [[ 8.66038377e-01 -4.87639484e-01 -1.10386882e-01 2.66991703e+02] [ 4.83759704e-01 8.73045061e-01 -6.13911196e-02 4.41478373e+01] [ 1.26309456e-01 -2.33659753e-04 9.91990860e-01 2.72165040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.04, Y:44.18, Z:27.20 [[ 8.70790301e-01 -4.79102753e-01 -1.10384797e-01 2.67044180e+02] [ 4.75153810e-01 8.77758240e-01 -6.13948677e-02 4.41816741e+01] [ 1.26305615e-01 1.01229843e-03 9.91990860e-01 2.72012838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:267.09, Y:44.22, Z:27.21 [[ 8.74129947e-01 -4.72982544e-01 -1.10382741e-01 2.67091502e+02] [ 4.68984353e-01 8.81069744e-01 -6.13985641e-02 4.42153091e+01] [ 1.26295342e-01 1.90254524e-03 9.91990860e-01 2.72099119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:267.14, Y:44.25, Z:27.22 [[ 8.76190050e-01 -4.69163105e-01 -1.10349343e-01 2.67137719e+02] [ 4.65127115e-01 8.83107930e-01 -6.14585304e-02 4.42511558e+01] [ 1.26284455e-01 2.52288104e-03 9.91990863e-01 2.72179795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80863999999997 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:267.18, Y:44.29, Z:27.22 [[ 8.76422850e-01 -4.68734947e-01 -1.10320162e-01 2.67184534e+02] [ 4.64688992e-01 8.83334904e-01 -6.15108681e-02 4.42854105e+01] [ 1.26281943e-01 2.64496540e-03 9.91990864e-01 2.72238229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86863999999997 meters Centerline goodness : 0.998531 with order 1 Centerline is valid? [True, True] Translation: X:267.23, Y:44.32, Z:27.23 [[ 8.75771709e-01 -4.69958336e-01 -1.10286339e-01 2.67231733e+02] [ 4.65914410e-01 8.82684949e-01 -6.15714524e-02 4.43201211e+01] [ 1.26284109e-01 2.53854158e-03 9.91990867e-01 2.72312799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92864 meters Centerline goodness : 0.997009 with order 1 Centerline is valid? [True, True] Translation: X:267.28, Y:44.35, Z:27.24 [[ 8.73770066e-01 -4.73671437e-01 -1.10278020e-01 2.67279167e+02] [ 4.69655012e-01 8.80699319e-01 -6.15863479e-02 4.43543927e+01] [ 1.26293471e-01 2.01968232e-03 9.91990867e-01 2.72382063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98864 meters Centerline goodness : 0.996572 with order 1 Centerline is valid? [True, True] Translation: X:267.33, Y:44.39, Z:27.25 [[ 8.70602173e-01 -4.79471020e-01 -1.10269657e-01 2.67327838e+02] [ 4.75498864e-01 8.77556897e-01 -6.16013189e-02 4.43878136e+01] [ 1.26303945e-01 1.19714561e-03 9.91990867e-01 2.72450101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04864 meters Centerline goodness : 0.987151 with order 1 Centerline is valid? [True, True] Translation: X:267.38, Y:44.42, Z:27.27 [[ 8.68741287e-01 -4.82836449e-01 -1.10261233e-01 2.67375970e+02] [ 4.78889322e-01 8.75710247e-01 -6.16163932e-02 4.44167025e+01] [ 1.26307532e-01 7.25777589e-04 9.91990867e-01 2.72746800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10864 meters Centerline goodness : 0.987031 with order 1 Centerline is valid? [True, True] Translation: X:267.43, Y:44.45, Z:27.28 [[ 8.67209490e-01 -4.85583248e-01 -1.10257018e-01 2.67425860e+02] [ 4.81657236e-01 8.74190367e-01 -6.16239354e-02 4.44474773e+01] [ 1.26309173e-01 3.34771235e-04 9.91990867e-01 2.72803525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16864 meters Centerline goodness : 0.995640 with order 1 Centerline is valid? [True, True] Translation: X:267.48, Y:44.47, Z:27.27 [[ 8.65159274e-01 -4.89228685e-01 -1.10248465e-01 2.67480946e+02] [ 4.85330138e-01 8.72155526e-01 -6.16392335e-02 4.44741825e+01] [ 1.26309489e-01 -1.79148048e-04 9.91990867e-01 2.72665141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22864 meters Centerline goodness : 0.986407 with order 1 Centerline is valid? [True, True] Translation: X:267.53, Y:44.50, Z:27.30 [[ 8.64704983e-01 -4.90033066e-01 -1.10240132e-01 2.67530589e+02] [ 4.86139128e-01 8.71703800e-01 -6.16541333e-02 4.44990489e+01] [ 1.26309306e-01 -2.79405211e-04 9.91990868e-01 2.72953981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28864 meters Centerline goodness : 0.995642 with order 1 Centerline is valid? [True, True] Translation: X:267.59, Y:44.53, Z:27.28 [[ 8.62632784e-01 -4.93673593e-01 -1.10231865e-01 2.67585727e+02] [ 4.89807303e-01 8.69646912e-01 -6.16689091e-02 4.45263467e+01] [ 1.26307113e-01 -7.94749846e-04 9.91990868e-01 2.72834596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34864 meters Centerline goodness : 0.995005 with order 1 Centerline is valid? [True, True] Translation: X:267.64, Y:44.55, Z:27.29 [[ 8.64041091e-01 -4.91205522e-01 -1.10227620e-01 2.67637399e+02] [ 4.87318228e-01 8.71043601e-01 -6.16764962e-02 4.45527429e+01] [ 1.26308899e-01 -4.24901421e-04 9.91990868e-01 2.72911194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40864 meters Centerline goodness : 0.993382 with order 1 Centerline is valid? [True, True] Translation: X:267.69, Y:44.58, Z:27.30 [[ 8.65391282e-01 -4.88824721e-01 -1.10219421e-01 2.67689440e+02] [ 4.84916296e-01 8.72382020e-01 -6.16911445e-02 4.45797804e+01] [ 1.26309598e-01 -6.02148535e-05 9.91990868e-01 2.72999753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46864 meters Centerline goodness : 0.994029 with order 1 Centerline is valid? [True, True] Translation: X:267.74, Y:44.61, Z:27.31 [[ 8.67804883e-01 -4.84528823e-01 -1.10211184e-01 2.67741338e+02] [ 4.80583924e-01 8.74775102e-01 -6.17058572e-02 4.46062874e+01] [ 1.26308266e-01 5.82920975e-04 9.91990868e-01 2.73073738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52864 meters Centerline goodness : 0.992792 with order 1 Centerline is valid? [True, True] Translation: X:267.79, Y:44.64, Z:27.32 [[ 8.68490896e-01 -4.83300000e-01 -1.10202876e-01 2.67791797e+02] [ 4.79343356e-01 8.75454455e-01 -6.17206900e-02 4.46353828e+01] [ 1.26307209e-01 7.78840670e-04 9.91990868e-01 2.73156829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58863999999994 meters Centerline goodness : 0.992173 with order 1 Centerline is valid? [True, True] Translation: X:267.84, Y:44.67, Z:27.32 [[ 8.71158412e-01 -4.78476932e-01 -1.10194588e-01 2.67841054e+02] [ 4.74479866e-01 8.78098848e-01 -6.17354840e-02 4.46665584e+01] [ 1.26300746e-01 1.49627267e-03 9.91990868e-01 2.73223101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64863999999994 meters Centerline goodness : 0.992020 with order 1 Centerline is valid? [True, True] Translation: X:267.89, Y:44.70, Z:27.33 [[ 8.74975236e-01 -4.71462975e-01 -1.10186205e-01 2.67889491e+02] [ 4.67408399e-01 8.81882232e-01 -6.17504437e-02 4.46990623e+01] [ 1.26284304e-01 2.52815162e-03 9.91990868e-01 2.73314314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70863999999995 meters Centerline goodness : 0.981574 with order 1 Centerline is valid? [True, True] Translation: X:267.94, Y:44.73, Z:27.36 [[ 8.76943579e-01 -4.67793536e-01 -1.10177890e-01 2.67936379e+02] [ 4.63708199e-01 8.83832426e-01 -6.17652760e-02 4.47318828e+01] [ 1.26272188e-01 3.07427143e-03 9.91990869e-01 2.73580962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76863999999995 meters Centerline goodness : 0.983195 with order 1 Centerline is valid? [True, True] Translation: X:267.99, Y:44.76, Z:27.36 [[ 8.77220567e-01 -4.67274584e-01 -1.10175045e-01 2.67985794e+02] [ 4.63184535e-01 8.84106617e-01 -6.17703492e-02 4.47630958e+01] [ 1.26270201e-01 3.15484355e-03 9.91990869e-01 2.73634647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82863999999995 meters Centerline goodness : 0.992168 with order 1 Centerline is valid? [True, True] Translation: X:268.04, Y:44.80, Z:27.35 [[ 8.76589226e-01 -4.68459858e-01 -1.10166650e-01 2.68037156e+02] [ 4.64377241e-01 8.83479684e-01 -6.17853181e-02 4.47960912e+01] [ 1.26273939e-01 3.00145899e-03 9.91990869e-01 2.73543067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88863999999995 meters Centerline goodness : 0.991924 with order 1 Centerline is valid? [True, True] Translation: X:268.08, Y:44.83, Z:27.36 [[ 8.77754759e-01 -4.66273840e-01 -1.10160287e-01 2.68082985e+02] [ 4.62172642e-01 8.84634174e-01 -6.17966618e-02 4.48335488e+01] [ 1.26265721e-01 3.32924324e-03 9.91990869e-01 2.73618528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94863999999995 meters Centerline goodness : 0.991623 with order 1 Centerline is valid? [True, True] Translation: X:268.13, Y:44.87, Z:27.37 [[ 8.77576253e-01 -4.66611677e-01 -1.10152001e-01 2.68130724e+02] [ 4.62511275e-01 8.84456143e-01 -6.18114270e-02 4.48680020e+01] [ 1.26266548e-01 3.29769787e-03 9.91990869e-01 2.73678098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00863999999996 meters Centerline goodness : 0.988714 with order 1 Centerline is valid? [True, True] Translation: X:268.18, Y:44.90, Z:27.39 [[ 8.75185236e-01 -4.71082984e-01 -1.10143650e-01 2.68176210e+02] [ 4.67015865e-01 8.82084854e-01 -6.18263043e-02 4.49031486e+01] [ 1.26281366e-01 2.67063654e-03 9.91990869e-01 2.73903243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06863999999996 meters Centerline goodness : 0.995260 with order 1 Centerline is valid? [True, True] Translation: X:268.23, Y:44.94, Z:27.38 [[ 8.72769703e-01 -4.75545233e-01 -1.10135268e-01 2.68227615e+02] [ 4.71511510e-01 8.79688898e-01 -6.18412334e-02 4.49371702e+01] [ 1.26293076e-01 2.04310848e-03 9.91990869e-01 2.73838310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12863999999996 meters Centerline goodness : 0.991006 with order 1 Centerline is valid? [True, True] Translation: X:268.28, Y:44.97, Z:27.41 [[ 8.68558535e-01 -4.83194325e-01 -1.10133172e-01 2.68276043e+02] [ 4.79221071e-01 8.75512630e-01 -6.18449664e-02 4.49726364e+01] [ 1.26306119e-01 9.37836958e-04 9.91990869e-01 2.74055554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18863999999996 meters Centerline goodness : 0.998434 with order 1 Centerline is valid? [True, True] Translation: X:268.33, Y:45.01, Z:27.40 [[ 8.65202216e-01 -4.89172104e-01 -1.10162508e-01 2.68330016e+02] [ 4.85253556e-01 8.72187281e-01 -6.17926673e-02 4.50075888e+01] [ 1.26309587e-01 6.40415939e-06 9.91990871e-01 2.73979969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24863999999997 meters Centerline goodness : 0.990365 with order 1 Centerline is valid? [True, True] Translation: X:268.38, Y:45.04, Z:27.43 [[ 8.62495265e-01 -4.93921922e-01 -1.10195518e-01 2.68380564e+02] [ 4.90049367e-01 8.69505930e-01 -6.17337447e-02 4.50366751e+01] [ 1.26307306e-01 -7.56181112e-04 9.91990873e-01 2.74263541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30863999999997 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:268.44, Y:45.07, Z:27.41 [[ 8.58449217e-01 -5.00920129e-01 -1.10199667e-01 2.68436682e+02] [ 4.97105669e-01 8.65491660e-01 -6.17263359e-02 4.50679981e+01] [ 1.26296857e-01 -1.79195472e-03 9.91990873e-01 2.74118383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36863999999997 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:268.49, Y:45.10, Z:27.42 [[ 8.56644073e-01 -5.03995151e-01 -1.10226224e-01 2.68492324e+02] [ 5.00212072e-01 8.63703421e-01 -6.16788776e-02 4.50969818e+01] [ 1.26288622e-01 -2.29964289e-03 9.91990875e-01 2.74217344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:268.55, Y:45.12, Z:27.43 [[ 8.56648431e-01 -5.03980844e-01 -1.10257765e-01 2.68548652e+02] [ 5.00204906e-01 8.63711599e-01 -6.16224422e-02 4.51248641e+01] [ 1.26287441e-01 -2.36270670e-03 9.91990877e-01 2.74288775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:268.61, Y:45.15, Z:27.44 [[ 8.57335630e-01 -5.02804013e-01 -1.10289355e-01 2.68605254e+02] [ 4.99025655e-01 8.64397502e-01 -6.15658535e-02 4.51520200e+01] [ 1.26289401e-01 -2.25461763e-03 9.91990879e-01 2.74362223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:268.66, Y:45.18, Z:27.44 [[ 8.57558948e-01 -5.02416095e-01 -1.10320978e-01 2.68661846e+02] [ 4.98641835e-01 8.64623008e-01 -6.15091359e-02 4.51789344e+01] [ 1.26289236e-01 -2.26294494e-03 9.91990881e-01 2.74433809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:268.72, Y:45.20, Z:27.45 [[ 8.58979861e-01 -4.99975932e-01 -1.10352467e-01 2.68720206e+02] [ 4.96188864e-01 8.66037061e-01 -6.14525901e-02 4.52034798e+01] [ 1.26294142e-01 -1.96912797e-03 9.91990883e-01 2.74511736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:268.78, Y:45.23, Z:27.46 [[ 8.60768034e-01 -4.96884049e-01 -1.10384032e-01 2.68776756e+02] [ 4.93078905e-01 8.67815501e-01 -6.13958401e-02 4.52290690e+01] [ 1.26299588e-01 -1.58046094e-03 9.91990885e-01 2.74572995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72864 meters Centerline goodness : 0.990960 with order 1 Centerline is valid? [True, True] Translation: X:268.83, Y:45.25, Z:27.49 [[ 8.62625052e-01 -4.93646888e-01 -1.10411822e-01 2.68827985e+02] [ 4.89821696e-01 8.69661656e-01 -6.13458225e-02 4.52544481e+01] [ 1.26304103e-01 -1.16366281e-03 9.91990887e-01 2.74892274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:268.88, Y:45.29, Z:27.47 [[ 8.66312629e-01 -4.87145532e-01 -1.10415846e-01 2.68881767e+02] [ 4.83268452e-01 8.73320778e-01 -6.13385796e-02 4.52857287e+01] [ 1.26309267e-01 -2.22108806e-04 9.91990887e-01 2.74743649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:268.93, Y:45.32, Z:27.48 [[ 8.70794674e-01 -4.79088132e-01 -1.10413753e-01 2.68932273e+02] [ 4.75145730e-01 8.77766285e-01 -6.13423469e-02 4.53198267e+01] [ 1.26305860e-01 9.53965734e-04 9.91990887e-01 2.74804613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90864 meters Centerline goodness : 0.992799 with order 1 Centerline is valid? [True, True] Translation: X:268.98, Y:45.36, Z:27.51 [[ 8.74041664e-01 -4.73137954e-01 -1.10415786e-01 2.68978717e+02] [ 4.69148558e-01 8.80986490e-01 -6.13386873e-02 4.53575894e+01] [ 1.26296477e-01 1.81116166e-03 9.91990887e-01 2.75085938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:269.03, Y:45.40, Z:27.50 [[ 8.74646623e-01 -4.72011998e-01 -1.10444368e-01 2.69028701e+02] [ 4.68020163e-01 8.81590045e-01 -6.12871810e-02 4.53981809e+01] [ 1.26294940e-01 1.91443487e-03 9.91990889e-01 2.74951842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:269.08, Y:45.43, Z:27.50 [[ 8.73569307e-01 -4.74001886e-01 -1.10448528e-01 2.69081684e+02] [ 4.70026816e-01 8.80522341e-01 -6.12796831e-02 4.54326274e+01] [ 1.26299082e-01 1.61828046e-03 9.91990889e-01 2.75028446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08863999999994 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:269.13, Y:45.47, Z:27.51 [[ 8.69655531e-01 -4.81137306e-01 -1.10481445e-01 2.69133024e+02] [ 4.77226833e-01 8.76645097e-01 -6.12202792e-02 4.54674164e+01] [ 1.26308377e-01 5.15844135e-04 9.91990891e-01 2.75119867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14863999999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:269.19, Y:45.50, Z:27.52 [[ 8.66060129e-01 -4.87572910e-01 -1.10510226e-01 2.69188305e+02] [ 4.83721009e-01 8.73082142e-01 -6.11682831e-02 4.54966757e+01] [ 1.26308502e-01 -4.80706687e-04 9.91990893e-01 2.75201918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20863999999995 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:269.24, Y:45.52, Z:27.53 [[ 8.63579397e-01 -4.91945989e-01 -1.10543068e-01 2.69243943e+02] [ 4.88137248e-01 8.70624910e-01 -6.11088737e-02 4.55226914e+01] [ 1.26303814e-01 -1.18782462e-03 9.91990895e-01 2.75276733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26863999999995 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:269.30, Y:45.55, Z:27.54 [[ 8.62433981e-01 -4.93945448e-01 -1.10569087e-01 2.69302638e+02] [ 4.90159079e-01 8.69491540e-01 -6.10617591e-02 4.55459764e+01] [ 1.26300064e-01 -1.53470599e-03 9.91990896e-01 2.75371734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32863999999995 meters Centerline goodness : 0.991532 with order 1 Centerline is valid? [True, True] Translation: X:269.36, Y:45.57, Z:27.56 [[ 8.61369284e-01 -4.95792660e-01 -1.10601059e-01 2.69357132e+02] [ 4.92028865e-01 8.68438906e-01 -6.10037941e-02 4.55683691e+01] [ 1.26295496e-01 -1.87211905e-03 9.91990899e-01 2.75636950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38863999999995 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:269.42, Y:45.59, Z:27.55 [[ 8.60883562e-01 -4.96634687e-01 -1.10605064e-01 2.69416875e+02] [ 4.92878739e-01 8.67957356e-01 -6.09965318e-02 4.55892579e+01] [ 1.26293472e-01 -2.00397282e-03 9.91990899e-01 2.75538864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44863999999995 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:269.48, Y:45.61, Z:27.56 [[ 8.60315799e-01 -4.97617125e-01 -1.10607068e-01 2.69476822e+02] [ 4.93869722e-01 8.67394123e-01 -6.09928972e-02 4.56060176e+01] [ 1.26291031e-01 -2.15232901e-03 9.91990899e-01 2.75607008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:269.53, Y:45.62, Z:27.57 [[ 8.59865823e-01 -4.98393393e-01 -1.10611000e-01 2.69534019e+02] [ 4.94653296e-01 8.66948010e-01 -6.09857664e-02 4.56232988e+01] [ 1.26288889e-01 -2.27451949e-03 9.91990899e-01 2.75670956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:269.59, Y:45.64, Z:27.58 [[ 8.61699511e-01 -4.95218036e-01 -1.10603117e-01 2.69588445e+02] [ 4.91450006e-01 8.68766876e-01 -6.10000587e-02 4.56425924e+01] [ 1.26296654e-01 -1.79218189e-03 9.91990899e-01 2.75753709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62863999999996 meters Centerline goodness : 0.993536 with order 1 Centerline is valid? [True, True] Translation: X:269.64, Y:45.67, Z:27.60 [[ 8.65098337e-01 -4.89259074e-01 -1.10591259e-01 2.69639451e+02] [ 4.85439609e-01 8.72138038e-01 -6.10215492e-02 4.56684096e+01] [ 1.26306191e-01 -8.95737050e-04 9.91990899e-01 2.76025387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68863999999996 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:269.69, Y:45.70, Z:27.59 [[ 8.68764589e-01 -4.82719492e-01 -1.10589246e-01 2.69693259e+02] [ 4.78846569e-01 8.75775021e-01 -6.10251974e-02 4.56985517e+01] [ 1.26309352e-01 6.12493390e-05 9.91990899e-01 2.75888578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74863999999997 meters Centerline goodness : 0.994662 with order 1 Centerline is valid? [True, True] Translation: X:269.74, Y:45.73, Z:27.62 [[ 8.72511943e-01 -4.75913685e-01 -1.10585146e-01 2.69739127e+02] [ 4.71985139e-01 8.79491357e-01 -6.10326273e-02 4.57301776e+01] [ 1.26304942e-01 1.05715083e-03 9.91990899e-01 2.76165916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80863999999997 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:269.79, Y:45.76, Z:27.60 [[ 8.72790499e-01 -4.75404546e-01 -1.10576955e-01 2.69790989e+02] [ 4.71470049e-01 8.79766560e-01 -6.10474638e-02 4.57638159e+01] [ 1.26304149e-01 1.14792409e-03 9.91990899e-01 2.76041851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86863999999997 meters Centerline goodness : 0.995788 with order 1 Centerline is valid? [True, True] Translation: X:269.84, Y:45.79, Z:27.63 [[ 8.70543676e-01 -4.79507423e-01 -1.10572782e-01 2.69839679e+02] [ 4.75604846e-01 8.77537643e-01 -6.10550202e-02 4.57917156e+01] [ 1.26308114e-01 5.62110574e-04 9.91990899e-01 2.76262213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:269.89, Y:45.82, Z:27.62 [[ 8.66535173e-01 -4.86716784e-01 -1.10560236e-01 2.69892622e+02] [ 4.82869496e-01 8.73559706e-01 -6.10777310e-02 4.58203556e+01] [ 1.26308524e-01 -4.60163269e-04 9.91990900e-01 2.76179853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98864 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:269.94, Y:45.85, Z:27.63 [[ 8.64500409e-01 -4.90323645e-01 -1.10552096e-01 2.69944574e+02] [ 4.86503780e-01 8.71539892e-01 -6.10924606e-02 4.58480505e+01] [ 1.26305640e-01 -9.69555545e-04 9.91990900e-01 2.76252753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:270.00, Y:45.87, Z:27.63 [[ 8.62745017e-01 -4.93407160e-01 -1.10545966e-01 2.69996536e+02] [ 4.89611033e-01 8.69797328e-01 -6.11035519e-02 4.58734301e+01] [ 1.26301516e-01 -1.40773957e-03 9.91990900e-01 2.76337146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10864 meters Centerline goodness : 0.998188 with order 1 Centerline is valid? [True, True] Translation: X:270.05, Y:45.90, Z:27.65 [[ 8.63792293e-01 -4.91573239e-01 -1.10537889e-01 2.70048055e+02] [ 4.87760269e-01 8.70835513e-01 -6.11181603e-02 4.58974506e+01] [ 1.26304371e-01 -1.12259434e-03 9.91990900e-01 2.76524399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:270.10, Y:45.92, Z:27.65 [[ 8.64478455e-01 -4.90367374e-01 -1.10529811e-01 2.70102230e+02] [ 4.86542712e-01 8.71515332e-01 -6.11327650e-02 4.59226425e+01] [ 1.26305938e-01 -9.29515687e-04 9.91990900e-01 2.76493768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:270.15, Y:45.95, Z:27.66 [[ 8.67965604e-01 -4.84170061e-01 -1.10521772e-01 2.70152919e+02] [ 4.80293303e-01 8.74973915e-01 -6.11472958e-02 4.59525590e+01] [ 1.26309357e-01 -9.11711152e-06 9.91990900e-01 2.76571829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:270.20, Y:45.98, Z:27.66 [[ 8.69808795e-01 -4.80852328e-01 -1.10515604e-01 2.70204525e+02] [ 4.76947422e-01 8.76801461e-01 -6.11584406e-02 4.59804678e+01] [ 1.26308422e-01 4.86017023e-04 9.91990900e-01 2.76638147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:270.25, Y:46.01, Z:27.67 [[ 8.70075840e-01 -4.80370851e-01 -1.10507371e-01 2.70253790e+02] [ 4.76460185e-01 8.77065287e-01 -6.11733144e-02 4.60108569e+01] [ 1.26308056e-01 5.73060666e-04 9.91990900e-01 2.76731227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:270.30, Y:46.04, Z:27.68 [[ 8.69543024e-01 -4.81336550e-01 -1.10499119e-01 2.70303024e+02] [ 4.77431753e-01 8.76535751e-01 -6.11882162e-02 4.60413862e+01] [ 1.26308553e-01 4.49998561e-04 9.91990901e-01 2.76805401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.35, Y:46.07, Z:27.69 [[ 8.68612155e-01 -4.83016275e-01 -1.10490738e-01 2.70353055e+02] [ 4.79123076e-01 8.75611346e-01 -6.12033460e-02 4.60723169e+01] [ 1.26309156e-01 2.23308034e-04 9.91990901e-01 2.76876472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:270.40, Y:46.10, Z:27.69 [[ 8.67457028e-01 -4.85089616e-01 -1.10482435e-01 2.70403420e+02] [ 4.81211238e-01 8.74464442e-01 -6.12183312e-02 4.61026661e+01] [ 1.26309337e-01 -6.11175333e-05 9.91990901e-01 2.76947472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58863999999994 meters Centerline goodness : 0.994315 with order 1 Centerline is valid? [True, True] Translation: X:270.45, Y:46.13, Z:27.72 [[ 8.68447990e-01 -4.83315169e-01 -1.10474143e-01 2.70450390e+02] [ 4.79420570e-01 8.75446401e-01 -6.12332915e-02 4.61340364e+01] [ 1.26309169e-01 2.14352482e-04 9.91990901e-01 2.77236167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64863999999994 meters Centerline goodness : 0.994310 with order 1 Centerline is valid? [True, True] Translation: X:270.50, Y:46.16, Z:27.73 [[ 8.67929253e-01 -4.84247025e-01 -1.10470042e-01 2.70501300e+02] [ 4.80358998e-01 8.74931318e-01 -6.12406889e-02 4.61614186e+01] [ 1.26309321e-01 8.73069249e-05 9.91990901e-01 2.77313512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70863999999995 meters Centerline goodness : 0.994421 with order 1 Centerline is valid? [True, True] Translation: X:270.55, Y:46.19, Z:27.74 [[ 8.66521750e-01 -4.86763535e-01 -1.10459573e-01 2.70552808e+02] [ 4.82893437e-01 8.73533740e-01 -6.12595647e-02 4.61886682e+01] [ 1.26309087e-01 -2.57457851e-04 9.91990901e-01 2.77404232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76863999999995 meters Centerline goodness : 0.994221 with order 1 Centerline is valid? [True, True] Translation: X:270.61, Y:46.21, Z:27.75 [[ 8.65684889e-01 -4.88252201e-01 -1.10451168e-01 2.70605382e+02] [ 4.84392227e-01 8.72702457e-01 -6.12747163e-02 4.62146812e+01] [ 1.26308521e-01 -4.57091228e-04 9.91990901e-01 2.77470747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:270.66, Y:46.24, Z:27.73 [[ 8.65066612e-01 -4.89348672e-01 -1.10442896e-01 2.70658813e+02] [ 4.85495690e-01 8.72088022e-01 -6.12896223e-02 4.62448479e+01] [ 1.26307922e-01 -5.99943991e-04 9.91990902e-01 2.77332697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88863999999995 meters Centerline goodness : 0.995151 with order 1 Centerline is valid? [True, True] Translation: X:270.71, Y:46.27, Z:27.76 [[ 8.66282103e-01 -4.87195062e-01 -1.10436815e-01 2.70707441e+02] [ 4.83323227e-01 8.73293134e-01 -6.13005780e-02 4.62722645e+01] [ 1.26309051e-01 -2.73084083e-04 9.91990902e-01 2.77614641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94863999999995 meters Centerline goodness : 0.996181 with order 1 Centerline is valid? [True, True] Translation: X:270.76, Y:46.30, Z:27.77 [[ 8.68976493e-01 -4.82374719e-01 -1.10428645e-01 2.70755993e+02] [ 4.78462123e-01 8.75964858e-01 -6.13152911e-02 4.63046442e+01] [ 1.26308559e-01 4.45622546e-04 9.91990902e-01 2.77673965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:270.81, Y:46.34, Z:27.76 [[ 8.69544579e-01 -4.81352287e-01 -1.10418296e-01 2.70806232e+02] [ 4.77429108e-01 8.76527008e-01 -6.13339222e-02 4.63401540e+01] [ 1.26307843e-01 6.15670797e-04 9.91990902e-01 2.77569894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06863999999996 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:270.86, Y:46.37, Z:27.76 [[ 8.68110396e-01 -4.83935451e-01 -1.10412046e-01 2.70856704e+02] [ 4.80031618e-01 8.75103660e-01 -6.13451711e-02 4.63698013e+01] [ 1.26309089e-01 2.53107391e-04 9.91990902e-01 2.77638113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:270.91, Y:46.40, Z:27.77 [[ 8.64972945e-01 -4.89523046e-01 -1.10403767e-01 2.70906734e+02] [ 4.85662487e-01 8.71990190e-01 -6.13600690e-02 4.63996363e+01] [ 1.26308169e-01 -5.44168245e-04 9.91990902e-01 2.77737275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:270.96, Y:46.43, Z:27.78 [[ 8.64493312e-01 -4.90371432e-01 -1.10395532e-01 2.70958259e+02] [ 4.86515867e-01 8.71513302e-01 -6.13748811e-02 4.64281530e+01] [ 1.26307663e-01 -6.51003547e-04 9.91990902e-01 2.77800531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24863999999997 meters Centerline goodness : 0.995002 with order 1 Centerline is valid? [True, True] Translation: X:271.01, Y:46.46, Z:27.81 [[ 8.65517135e-01 -4.88563019e-01 -1.10391422e-01 2.71007975e+02] [ 4.84691843e-01 8.72528529e-01 -6.13822720e-02 4.64559229e+01] [ 1.26308773e-01 -3.78413699e-04 9.91990902e-01 2.78091994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30863999999997 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:271.06, Y:46.48, Z:27.80 [[ 8.62734882e-01 -4.93459480e-01 -1.10391422e-01 2.71064405e+02] [ 4.89628095e-01 8.69768098e-01 -6.13822720e-02 4.64803554e+01] [ 1.26304601e-01 -1.09411461e-03 9.91990902e-01 2.77973080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.12, Y:46.51, Z:27.81 [[ 8.60963777e-01 -4.96544558e-01 -1.10385133e-01 2.71117045e+02] [ 4.92736924e-01 8.68009880e-01 -6.13935801e-02 4.65056519e+01] [ 1.26300034e-01 -1.53318230e-03 9.91990903e-01 2.78051597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42864 meters Centerline goodness : 0.996820 with order 1 Centerline is valid? [True, True] Translation: X:271.17, Y:46.53, Z:27.83 [[ 8.59874609e-01 -4.98430105e-01 -1.10377025e-01 2.71170055e+02] [ 4.94636052e-01 8.66928033e-01 -6.14081533e-02 4.65259943e+01] [ 1.26296610e-01 -1.79314408e-03 9.91990903e-01 2.78313248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:271.22, Y:46.55, Z:27.82 [[ 8.59907879e-01 -4.98374489e-01 -1.10368963e-01 2.71224193e+02] [ 4.94578121e-01 8.66960058e-01 -6.14226391e-02 4.65535153e+01] [ 1.26296959e-01 -1.76826328e-03 9.91990903e-01 2.78194094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:271.28, Y:46.58, Z:27.83 [[ 8.60885396e-01 -4.96685824e-01 -1.10360892e-01 2.71277439e+02] [ 4.92873763e-01 8.67929105e-01 -6.14371376e-02 4.65759543e+01] [ 1.26300386e-01 -1.50365368e-03 9.91990903e-01 2.78263366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60864 meters Centerline goodness : 0.998041 with order 1 Centerline is valid? [True, True] Translation: X:271.33, Y:46.60, Z:27.85 [[ 8.63442426e-01 -4.92229939e-01 -1.10348831e-01 2.71327539e+02] [ 4.88378758e-01 8.70464821e-01 -6.14587936e-02 4.66014622e+01] [ 1.26306634e-01 -8.25895175e-04 9.91990903e-01 2.78528620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66864 meters Centerline goodness : 0.996622 with order 1 Centerline is valid? [True, True] Translation: X:271.38, Y:46.63, Z:27.86 [[ 8.65766320e-01 -4.88132775e-01 -1.10340715e-01 2.71378027e+02] [ 4.84246504e-01 8.72769356e-01 -6.14733621e-02 4.66308198e+01] [ 1.26309157e-01 -2.10538781e-04 9.91990903e-01 2.78625301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72864 meters Centerline goodness : 0.995537 with order 1 Centerline is valid? [True, True] Translation: X:271.43, Y:46.66, Z:27.87 [[ 8.67881713e-01 -4.84363603e-01 -1.10332373e-01 2.71427603e+02] [ 4.80445014e-01 8.74866718e-01 -6.14883297e-02 4.66620017e+01] [ 1.26308830e-01 3.55958396e-04 9.91990904e-01 2.78724811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78864 meters Centerline goodness : 0.997307 with order 1 Centerline is valid? [True, True] Translation: X:271.48, Y:46.69, Z:27.88 [[ 8.69102100e-01 -4.82171852e-01 -1.10326085e-01 2.71477935e+02] [ 4.78234216e-01 8.76076385e-01 -6.14996100e-02 4.66925465e+01] [ 1.26307459e-01 6.87731417e-04 9.91990904e-01 2.78773323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84864 meters Centerline goodness : 0.997548 with order 1 Centerline is valid? [True, True] Translation: X:271.53, Y:46.72, Z:27.88 [[ 8.68014314e-01 -4.84129416e-01 -1.10317084e-01 2.71528155e+02] [ 4.80205458e-01 8.74996303e-01 -6.15157522e-02 4.67232951e+01] [ 1.26308626e-01 4.21687736e-04 9.91990904e-01 2.78843207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:271.58, Y:46.76, Z:27.87 [[ 8.67445636e-01 -4.85149525e-01 -1.10308693e-01 2.71580470e+02] [ 4.81231864e-01 8.74431160e-01 -6.15307940e-02 4.67551797e+01] [ 1.26308994e-01 2.90560534e-04 9.91990904e-01 2.78717136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.63, Y:46.79, Z:27.88 [[ 8.67549848e-01 -4.84964585e-01 -1.10302367e-01 2.71629291e+02] [ 4.81043994e-01 8.74533728e-01 -6.15421320e-02 4.67876787e+01] [ 1.26308895e-01 3.30575866e-04 9.91990904e-01 2.78777631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:271.68, Y:46.82, Z:27.89 [[ 8.67691695e-01 -4.84712644e-01 -1.10294045e-01 2.71678790e+02] [ 4.80788129e-01 8.74673371e-01 -6.15570442e-02 4.68187382e+01] [ 1.26308741e-01 3.84468648e-04 9.91990904e-01 2.78851106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.73, Y:46.85, Z:27.89 [[ 8.67475393e-01 -4.85101530e-01 -1.10285757e-01 2.71727942e+02] [ 4.81178258e-01 8.74457767e-01 -6.15718883e-02 4.68508784e+01] [ 1.26308854e-01 3.44989309e-04 9.91990904e-01 2.78908760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.78, Y:46.88, Z:27.90 [[ 8.67417123e-01 -4.85207617e-01 -1.10277396e-01 2.71776305e+02] [ 4.81283295e-01 8.74398907e-01 -6.15868603e-02 4.68844797e+01] [ 1.26308848e-01 3.46828647e-04 9.91990904e-01 2.78995009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:271.83, Y:46.92, Z:27.91 [[ 8.67261295e-01 -4.85487025e-01 -1.10273272e-01 2.71825512e+02] [ 4.81564014e-01 8.74243816e-01 -6.15942432e-02 4.69176088e+01] [ 1.26308932e-01 3.14663630e-04 9.91990905e-01 2.79064817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:271.88, Y:46.95, Z:27.92 [[ 8.66506103e-01 -4.86834570e-01 -1.10269105e-01 2.71877115e+02] [ 4.82921468e-01 8.73494182e-01 -6.16017030e-02 4.69501874e+01] [ 1.26309260e-01 1.26933638e-04 9.91990905e-01 2.79151941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:271.93, Y:46.98, Z:27.92 [[ 8.64444553e-01 -4.90484892e-01 -1.10273233e-01 2.71930049e+02] [ 4.86602241e-01 8.71449597e-01 -6.15943120e-02 4.69816896e+01] [ 1.26308644e-01 -4.14334878e-04 9.91990905e-01 2.79238589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:271.98, Y:47.01, Z:27.93 [[ 8.62317394e-01 -4.94208661e-01 -1.10301910e-01 2.71984333e+02] [ 4.90362833e-01 8.69342718e-01 -6.15429160e-02 4.70122264e+01] [ 1.26305204e-01 -1.01843000e-03 9.91990906e-01 2.79311765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:272.04, Y:47.04, Z:27.94 [[ 8.60361862e-01 -4.97602961e-01 -1.10312101e-01 2.72038884e+02] [ 4.93787189e-01 8.67403557e-01 -6.15246440e-02 4.70414709e+01] [ 1.26299953e-01 -1.53724470e-03 9.91990907e-01 2.79397980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50863999999996 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:272.09, Y:47.07, Z:27.95 [[ 8.58780932e-01 -5.00320283e-01 -1.10340041e-01 2.72094269e+02] [ 4.96533231e-01 8.65838112e-01 -6.14744952e-02 4.70691911e+01] [ 1.26293549e-01 -1.99437257e-03 9.91990908e-01 2.79473977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:272.15, Y:47.10, Z:27.96 [[ 8.58698854e-01 -5.00455022e-01 -1.10367788e-01 2.72148000e+02] [ 4.96675482e-01 8.65760058e-01 -6.14246400e-02 4.71005148e+01] [ 1.26292292e-01 -2.07170613e-03 9.91990910e-01 2.79556758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:272.20, Y:47.13, Z:27.96 [[ 8.59035966e-01 -4.99869201e-01 -1.10399233e-01 2.72202540e+02] [ 4.96092113e-01 8.66098479e-01 -6.13680702e-02 4.71318839e+01] [ 1.26292616e-01 -2.05080946e-03 9.91990912e-01 2.79642267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:272.26, Y:47.16, Z:27.97 [[ 8.59542829e-01 -4.98990165e-01 -1.10430706e-01 2.72256595e+02] [ 4.95213132e-01 8.66605370e-01 -6.13113839e-02 4.71633529e+01] [ 1.26293621e-01 -1.98697560e-03 9.91990914e-01 2.79719681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:272.31, Y:47.19, Z:27.98 [[ 8.60651645e-01 -4.97068237e-01 -1.10462275e-01 2.72310616e+02] [ 4.93282737e-01 8.67709648e-01 -6.12544550e-02 4.71935826e+01] [ 1.26296826e-01 -1.77038596e-03 9.91990916e-01 2.79804904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:272.36, Y:47.23, Z:27.99 [[ 8.61540788e-01 -4.95519371e-01 -1.10489923e-01 2.72363943e+02] [ 4.91727580e-01 8.68595412e-01 -6.12045446e-02 4.72262079e+01] [ 1.26299077e-01 -1.60073069e-03 9.91990918e-01 2.79878887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:272.42, Y:47.25, Z:28.00 [[ 8.62382617e-01 -4.94045770e-01 -1.10521485e-01 2.72419500e+02] [ 4.90249233e-01 8.69434686e-01 -6.11474968e-02 4.72545097e+01] [ 1.26300875e-01 -1.45053515e-03 9.91990920e-01 2.79950722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.47, Y:47.28, Z:28.00 [[ 8.64065902e-01 -4.91093594e-01 -1.10531443e-01 2.72474301e+02] [ 4.87275264e-01 8.71106194e-01 -6.11294912e-02 4.72825930e+01] [ 1.26304927e-01 -1.03932942e-03 9.91990920e-01 2.80010712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:272.53, Y:47.32, Z:28.01 [[ 8.67236678e-01 -4.85466017e-01 -1.10558989e-01 2.72527146e+02] [ 4.81608355e-01 8.74255495e-01 -6.10796312e-02 4.73158512e+01] [ 1.26308889e-01 -2.75636629e-04 9.91990922e-01 2.80109622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:272.58, Y:47.35, Z:28.02 [[ 8.70336861e-01 -4.79878490e-01 -1.10591065e-01 2.72579415e+02] [ 4.75983154e-01 8.77334836e-01 -6.10215007e-02 4.73491343e+01] [ 1.26308299e-01 4.69777572e-04 9.91990924e-01 2.80169307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.63, Y:47.39, Z:28.02 [[ 8.73482727e-01 -4.74121586e-01 -1.10619379e-01 2.72629455e+02] [ 4.70186634e-01 8.80458501e-01 -6.09701292e-02 4.73873172e+01] [ 1.26303027e-01 1.24460103e-03 9.91990925e-01 2.80238527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:272.68, Y:47.42, Z:28.03 [[ 8.73843380e-01 -4.73452913e-01 -1.10634922e-01 2.72679526e+02] [ 4.69516195e-01 8.80818157e-01 -6.09419124e-02 4.74242634e+01] [ 1.26302374e-01 1.30879893e-03 9.91990926e-01 2.80314533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:272.73, Y:47.46, Z:28.04 [[ 8.71762248e-01 -4.77267563e-01 -1.10662803e-01 2.72729985e+02] [ 4.73367797e-01 8.78757751e-01 -6.08912429e-02 4.74603440e+01] [ 1.26307211e-01 6.98479416e-04 9.91990928e-01 2.80386241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:272.78, Y:47.50, Z:28.05 [[ 8.69166152e-01 -4.81972743e-01 -1.10690904e-01 2.72780724e+02] [ 4.78117357e-01 8.76186209e-01 -6.08401165e-02 4.74954776e+01] [ 1.26309122e-01 -4.30727239e-05 9.91990929e-01 2.80458645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:272.83, Y:47.53, Z:28.05 [[ 8.68398474e-01 -4.83348578e-01 -1.10716948e-01 2.72833410e+02] [ 4.79510361e-01 8.75427932e-01 -6.07926850e-02 4.75287663e+01] [ 1.26308767e-01 -2.97648980e-04 9.91990931e-01 2.80531149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:272.89, Y:47.56, Z:28.06 [[ 8.65953287e-01 -4.87708508e-01 -1.10748887e-01 2.72886019e+02] [ 4.83913128e-01 8.73005963e-01 -6.07344451e-02 4.75626771e+01] [ 1.26305145e-01 -9.99648090e-04 9.91990933e-01 2.80584873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:272.94, Y:47.59, Z:28.06 [[ 8.63799311e-01 -4.91507218e-01 -1.10776378e-01 2.72939860e+02] [ 4.87749284e-01 8.70872009e-01 -6.06842623e-02 4.75943925e+01] [ 1.26298800e-01 -1.61207521e-03 9.91990935e-01 2.80638041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52864 meters Centerline goodness : 0.997746 with order 1 Centerline is valid? [True, True] Translation: X:272.99, Y:47.62, Z:28.09 [[ 8.63561450e-01 -4.91918913e-01 -1.10803448e-01 2.72990162e+02] [ 4.88170696e-01 8.70639301e-01 -6.06347951e-02 4.76221230e+01] [ 1.26297239e-01 -1.72912489e-03 9.91990936e-01 2.80919479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:273.05, Y:47.65, Z:28.08 [[ 8.65089346e-01 -4.89226727e-01 -1.10804481e-01 2.73046536e+02] [ 4.85456724e-01 8.72155617e-01 -6.06329077e-02 4.76511819e+01] [ 1.26301990e-01 -1.33789789e-03 9.91990936e-01 2.80769256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:273.10, Y:47.68, Z:28.08 [[ 8.66114557e-01 -4.87409326e-01 -1.10804889e-01 2.73100674e+02] [ 4.83624591e-01 8.73172948e-01 -6.06321618e-02 4.76805416e+01] [ 1.26304513e-01 -1.07357125e-03 9.91990936e-01 2.80837293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:273.15, Y:47.71, Z:28.11 [[ 8.66549822e-01 -4.86628869e-01 -1.10832078e-01 2.73153029e+02] [ 4.82844137e-01 8.73608213e-01 -6.05824215e-02 4.77063845e+01] [ 1.26304969e-01 -1.01693257e-03 9.91990938e-01 2.81055946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76863999999995 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:273.21, Y:47.73, Z:28.12 [[ 8.67225629e-01 -4.85423270e-01 -1.10833019e-01 2.73207258e+02] [ 4.81628945e-01 8.74278867e-01 -6.05806997e-02 4.77341543e+01] [ 1.26306248e-01 -8.43254802e-04 9.91990938e-01 2.81166238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.26, Y:47.76, Z:28.10 [[ 8.67675672e-01 -4.84612108e-01 -1.10860418e-01 2.73262761e+02] [ 4.80817600e-01 8.74728811e-01 -6.05305196e-02 4.77645380e+01] [ 1.26306625e-01 -7.82780941e-04 9.91990939e-01 2.81018532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.32, Y:47.79, Z:28.11 [[ 8.68322451e-01 -4.83452069e-01 -1.10861256e-01 2.73317400e+02] [ 4.79648334e-01 8.75370617e-01 -6.05289853e-02 4.77941219e+01] [ 1.26307549e-01 -6.15739909e-04 9.91990939e-01 2.81083831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:273.37, Y:47.82, Z:28.12 [[ 8.68504083e-01 -4.83119423e-01 -1.10888598e-01 2.73371817e+02] [ 4.79319388e-01 8.75554243e-01 -6.04788542e-02 4.78243051e+01] [ 1.26307491e-01 -6.24923022e-04 9.91990941e-01 2.81160425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.42, Y:47.86, Z:28.12 [[ 8.70710075e-01 -4.79129928e-01 -1.10898498e-01 2.73424604e+02] [ 4.75299902e-01 8.77743987e-01 -6.04606954e-02 4.78575791e+01] [ 1.26309018e-01 -6.63085050e-05 9.91990941e-01 2.81227416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06863999999996 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:273.47, Y:47.89, Z:28.15 [[ 8.72859518e-01 -4.75196472e-01 -1.10925988e-01 2.73474382e+02] [ 4.71341162e-01 8.79879602e-01 -6.04102178e-02 4.78868946e+01] [ 1.26308237e-01 4.45649358e-04 9.91990943e-01 2.81503574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12863999999996 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:273.53, Y:47.92, Z:28.16 [[ 8.73114066e-01 -4.74728224e-01 -1.10927641e-01 2.73529420e+02] [ 4.70869535e-01 8.80132293e-01 -6.04071823e-02 4.79180643e+01] [ 1.26307994e-01 5.09913645e-04 9.91990943e-01 2.81567160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:273.58, Y:47.95, Z:28.14 [[ 8.73128221e-01 -4.74694782e-01 -1.10959334e-01 2.73583932e+02] [ 4.70843229e-01 8.80150364e-01 -6.03489112e-02 4.79486314e+01] [ 1.26308212e-01 4.47886328e-04 9.91990945e-01 2.81432729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.64, Y:47.98, Z:28.15 [[ 8.73398035e-01 -4.74198208e-01 -1.10959148e-01 2.73638863e+02] [ 4.70342618e-01 8.80417963e-01 -6.03492526e-02 4.79767215e+01] [ 1.26307935e-01 5.20102238e-04 9.91990945e-01 2.81518132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:273.69, Y:48.01, Z:28.16 [[ 8.72695048e-01 -4.75484262e-01 -1.10986804e-01 2.73693360e+02] [ 4.71645490e-01 8.79724185e-01 -6.02983503e-02 4.80059672e+01] [ 1.26308692e-01 2.75646394e-04 9.91990947e-01 2.81592609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.75, Y:48.03, Z:28.17 [[ 8.71403354e-01 -4.77840967e-01 -1.11014435e-01 2.73748718e+02] [ 4.74027691e-01 8.78446353e-01 -6.02474354e-02 4.80347432e+01] [ 1.26308919e-01 -1.24099098e-04 9.91990948e-01 2.81653711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:273.80, Y:48.06, Z:28.17 [[ 8.70248735e-01 -4.79934184e-01 -1.11041964e-01 2.73804432e+02] [ 4.76144327e-01 8.77304361e-01 -6.01966548e-02 4.80634130e+01] [ 1.26308032e-01 -4.85938617e-04 9.91990950e-01 2.81738336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:273.86, Y:48.09, Z:28.18 [[ 8.67854996e-01 -4.84242157e-01 -1.11073124e-01 2.73859010e+02] [ 4.80494686e-01 8.74933223e-01 -6.01391045e-02 4.80933101e+01] [ 1.26303456e-01 -1.17802365e-03 9.91990952e-01 2.81789338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54864 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:273.91, Y:48.12, Z:28.21 [[ 8.66694781e-01 -4.86309467e-01 -1.11100223e-01 2.73911686e+02] [ 4.82585299e-01 8.73785295e-01 -6.00890004e-02 4.81171168e+01] [ 1.26299591e-01 -1.53651155e-03 9.91990954e-01 2.82054216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:273.97, Y:48.15, Z:28.19 [[ 8.68680996e-01 -4.82752346e-01 -1.11101306e-01 2.73967306e+02] [ 4.78999397e-01 8.75756319e-01 -6.00869992e-02 4.81463779e+01] [ 1.26304810e-01 -1.02102415e-03 9.91990954e-01 2.81912785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.02, Y:48.17, Z:28.20 [[ 8.70527197e-01 -4.79415182e-01 -1.11101223e-01 2.74022391e+02] [ 4.75635089e-01 8.77588056e-01 -6.00871528e-02 4.81741875e+01] [ 1.26307799e-01 -5.36139236e-04 9.91990954e-01 2.81998895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:274.08, Y:48.20, Z:28.21 [[ 8.71910778e-01 -4.76887959e-01 -1.11128167e-01 2.74078206e+02] [ 4.73093756e-01 8.78964063e-01 -6.00372796e-02 4.82024855e+01] [ 1.26308721e-01 -2.26890700e-04 9.91990955e-01 2.82060326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.13, Y:48.23, Z:28.21 [[ 8.73339230e-01 -4.74259613e-01 -1.11159384e-01 2.74133889e+02] [ 4.70451545e-01 8.80385036e-01 -5.99794266e-02 4.82287233e+01] [ 1.26308878e-01 8.72823901e-05 9.91990958e-01 2.82125009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84864 meters Centerline goodness : 0.999263 with order 1 Centerline is valid? [True, True] Translation: X:274.19, Y:48.25, Z:28.24 [[ 8.74548827e-01 -4.72019373e-01 -1.11184805e-01 2.74185983e+02] [ 4.68199252e-01 8.81588103e-01 -5.99322658e-02 4.82532737e+01] [ 1.26308392e-01 3.57050183e-04 9.91990959e-01 2.82384302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:274.24, Y:48.28, Z:28.24 [[ 8.75656317e-01 -4.69961572e-01 -1.11185143e-01 2.74242127e+02] [ 4.66124988e-01 8.82686634e-01 -5.99316394e-02 4.82814790e+01] [ 1.26307207e-01 6.53345252e-04 9.91990959e-01 2.82444639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:274.30, Y:48.31, Z:28.25 [[ 8.78188681e-01 -4.65204662e-01 -1.11217187e-01 2.74295835e+02] [ 4.61337535e-01 8.85202241e-01 -5.98721154e-02 4.83120607e+01] [ 1.26302490e-01 1.27035116e-03 9.91990961e-01 2.82496566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:274.35, Y:48.34, Z:28.26 [[ 8.82048831e-01 -4.57836617e-01 -1.11245190e-01 2.74346121e+02] [ 4.53917476e-01 8.89033457e-01 -5.98200389e-02 4.83448211e+01] [ 1.26288500e-01 2.26805929e-03 9.91990963e-01 2.82591781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08863999999994 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:274.40, Y:48.38, Z:28.27 [[ 8.84597955e-01 -4.52891781e-01 -1.11245190e-01 2.74395102e+02] [ 4.48933601e-01 8.91560533e-01 -5.98200389e-02 4.83829550e+01] [ 1.26273825e-01 2.97498011e-03 9.91990963e-01 2.82687937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14863999999994 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:274.45, Y:48.42, Z:28.27 [[ 8.84018623e-01 -4.54014746e-01 -1.11273017e-01 2.74445637e+02] [ 4.50071928e-01 8.90989909e-01 -5.97682336e-02 4.84208381e+01] [ 1.26278795e-01 2.75537039e-03 9.91990965e-01 2.82722475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20863999999995 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:274.50, Y:48.46, Z:28.28 [[ 8.79656527e-01 -4.62402872e-01 -1.11301294e-01 2.74496109e+02] [ 4.58533208e-01 8.86668683e-01 -5.97155294e-02 4.84586203e+01] [ 1.26300004e-01 1.49381578e-03 9.91990966e-01 2.82794885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26863999999995 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:274.55, Y:48.49, Z:28.29 [[ 8.76251841e-01 -4.68814923e-01 -1.11334091e-01 2.74549251e+02] [ 4.65004350e-01 8.83296279e-01 -5.96543210e-02 4.84891170e+01] [ 1.26307824e-01 5.01372065e-04 9.91990969e-01 2.82908154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32863999999995 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:274.60, Y:48.52, Z:28.29 [[ 8.71071549e-01 -4.78364816e-01 -1.11361840e-01 2.74603991e+02] [ 4.74638097e-01 8.78160704e-01 -5.96024743e-02 4.85196495e+01] [ 1.26305319e-01 -9.38552148e-04 9.91990971e-01 2.82938072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38863999999995 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:274.66, Y:48.55, Z:28.30 [[ 8.69588466e-01 -4.81049077e-01 -1.11389788e-01 2.74658794e+02] [ 4.77350935e-01 8.76692568e-01 -5.95501976e-02 4.85489817e+01] [ 1.26301167e-01 -1.38785440e-03 9.91990972e-01 2.83016060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:274.72, Y:48.58, Z:28.29 [[ 8.69485452e-01 -4.81229064e-01 -1.11416502e-01 2.74715476e+02] [ 4.77538800e-01 8.76593648e-01 -5.95001749e-02 4.85758503e+01] [ 1.26300211e-01 -1.47116623e-03 9.91990974e-01 2.82855742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50863999999996 meters Centerline goodness : 0.997307 with order 1 Centerline is valid? [True, True] Translation: X:274.77, Y:48.60, Z:28.32 [[ 8.71169734e-01 -4.78173185e-01 -1.11416785e-01 2.74766802e+02] [ 4.74458053e-01 8.78264964e-01 -5.94996454e-02 4.86021188e+01] [ 1.26304594e-01 -1.02830059e-03 9.91990974e-01 2.83228952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56863999999996 meters Centerline goodness : 0.929668 with order 3 Centerline is valid? [True, False] Translation: X:274.82, Y:48.63, Z:28.33 [[ 8.79268709e-01 -4.58034047e-01 -1.30733884e-01 2.74816485e+02] [ 4.52352748e-01 8.88924702e-01 -7.20407184e-02 4.86301595e+01] [ 1.49209680e-01 4.20531798e-03 9.88796636e-01 2.83297235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62863999999996 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [False, True] Translation: X:274.83, Y:48.63, Z:28.33 [[ 8.88452858e-01 -4.38459943e-01 -1.35662809e-01 2.74826595e+02] [ 4.32662594e-01 8.98739103e-01 -7.12116868e-02 4.86317878e+01] [ 1.53148944e-01 4.57200371e-03 9.88192541e-01 2.83270016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68863999999996 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:274.88, Y:48.65, Z:28.33 [[ 8.86543615e-01 -4.41530978e-01 -1.38169513e-01 2.74882092e+02] [ 4.36579080e-01 8.97244121e-01 -6.59673654e-02 4.86499385e+01] [ 1.53098419e-01 -1.83897257e-03 9.88209235e-01 2.83342126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:274.94, Y:48.67, Z:28.32 [[ 8.86570195e-01 -4.41480959e-01 -1.38158794e-01 2.74942734e+02] [ 4.36524960e-01 8.97268803e-01 -6.59898083e-02 4.86705278e+01] [ 1.53098819e-01 -1.80516489e-03 9.88209235e-01 2.83176904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:275.00, Y:48.69, Z:28.34 [[ 8.92113413e-01 -4.30169732e-01 -1.38158096e-01 2.74996070e+02] [ 4.25077841e-01 9.02748017e-01 -6.59912697e-02 4.86934219e+01] [ 1.53109394e-01 1.43751731e-04 9.88209235e-01 2.83379574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86863999999997 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:275.05, Y:48.72, Z:28.36 [[ 8.94601861e-01 -4.24969756e-01 -1.38160112e-01 2.75048582e+02] [ 4.19816703e-01 9.05206963e-01 -6.59870494e-02 4.87157033e+01] [ 1.53105995e-01 1.03021471e-03 9.88209235e-01 2.83551667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92864 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:275.10, Y:48.75, Z:28.36 [[ 8.99705627e-01 -4.14057946e-01 -1.38151372e-01 2.75098219e+02] [ 4.08773485e-01 9.10245864e-01 -6.60053419e-02 4.87465115e+01] [ 1.53081751e-01 2.91275992e-03 9.88209236e-01 2.83602442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98864 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:275.15, Y:48.77, Z:28.37 [[ 9.01781041e-01 -4.09530221e-01 -1.38115718e-01 2.75150081e+02] [ 4.04181437e-01 9.12288779e-01 -6.60798655e-02 4.87720413e+01] [ 1.53063121e-01 3.76576068e-03 9.88209239e-01 2.83705599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:275.20, Y:48.81, Z:28.36 [[ 9.01643878e-01 -4.09842717e-01 -1.38084271e-01 2.75203842e+02] [ 4.04487527e-01 9.12148349e-01 -6.61455141e-02 4.88051135e+01] [ 1.53062597e-01 3.78633264e-03 9.88209242e-01 2.83578021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10864 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:275.25, Y:48.83, Z:28.39 [[ 9.00371263e-01 -4.12631707e-01 -1.38082088e-01 2.75253527e+02] [ 4.07308361e-01 9.10891908e-01 -6.61500698e-02 4.88323838e+01] [ 1.53073473e-01 3.31763292e-03 9.88209242e-01 2.83883122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16864 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:275.30, Y:48.86, Z:28.40 [[ 8.98996863e-01 -4.15617584e-01 -1.38082088e-01 2.75304381e+02] [ 4.10329183e-01 9.09535117e-01 -6.61500698e-02 4.88587223e+01] [ 1.53083641e-01 2.80959481e-03 9.88209242e-01 2.83965961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22864 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:275.36, Y:48.88, Z:28.41 [[ 8.93560819e-01 -4.27191214e-01 -1.38046114e-01 2.75357560e+02] [ 4.22027743e-01 9.04160841e-01 -6.62250588e-02 4.88833436e+01] [ 1.53106654e-01 9.16827722e-04 9.88209245e-01 2.84060622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28864 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:275.41, Y:48.90, Z:28.41 [[ 8.89959833e-01 -4.34652605e-01 -1.38016694e-01 2.75411889e+02] [ 4.29568503e-01 9.00598149e-01 -6.62863159e-02 4.89049118e+01] [ 1.53109099e-01 -2.95466064e-04 9.88209247e-01 2.84122986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:275.47, Y:48.92, Z:28.42 [[ 8.85695915e-01 -4.43279369e-01 -1.38007780e-01 2.75466738e+02] [ 4.38295983e-01 8.96381780e-01 -6.63048712e-02 4.89243168e+01] [ 1.53099241e-01 -1.76230184e-03 9.88209247e-01 2.84217873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.52, Y:48.95, Z:28.41 [[ 8.84867949e-01 -4.44932636e-01 -1.37998778e-01 2.75524752e+02] [ 4.39966294e-01 8.95561746e-01 -6.63236007e-02 4.89450144e+01] [ 1.53095961e-01 -2.02718244e-03 9.88209248e-01 2.84066432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46864 meters Centerline goodness : 0.998674 with order 1 Centerline is valid? [True, True] Translation: X:275.57, Y:48.97, Z:28.44 [[ 8.84092419e-01 -4.46474993e-01 -1.37987956e-01 2.75574684e+02] [ 4.41523795e-01 8.94793235e-01 -6.63461092e-02 4.89671882e+01] [ 1.53092568e-01 -2.26887368e-03 9.88209248e-01 2.84408798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52864 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:275.64, Y:48.98, Z:28.42 [[ 8.70218979e-01 -4.72948836e-01 -1.37979445e-01 2.75640494e+02] [ 4.68319986e-01 8.81063129e-01 -6.63638041e-02 4.89782956e+01] [ 1.52955285e-01 -6.86748987e-03 9.88209248e-01 2.84184138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.69, Y:49.01, Z:28.43 [[ 8.79753722e-01 -4.54968393e-01 -1.37975182e-01 2.75689141e+02] [ 4.50116314e-01 8.90499845e-01 -6.63726671e-02 4.90110489e+01] [ 1.53064343e-01 -3.71327927e-03 9.88209248e-01 2.84323227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64863999999994 meters Centerline goodness : 0.999705 with order 1 Centerline is valid? [True, True] Translation: X:275.74, Y:49.03, Z:28.46 [[ 8.78578458e-01 -4.57235675e-01 -1.37968944e-01 2.75740479e+02] [ 4.52409292e-01 8.89336146e-01 -6.63856307e-02 4.90310258e+01] [ 1.53054648e-01 -4.09344709e-03 9.88209248e-01 2.84640302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70863999999995 meters Centerline goodness : 0.998182 with order 1 Centerline is valid? [True, True] Translation: X:275.79, Y:49.06, Z:28.48 [[ 8.77181820e-01 -4.59911859e-01 -1.37960634e-01 2.75792802e+02] [ 4.55115580e-01 8.87952963e-01 -6.64028955e-02 4.90569600e+01] [ 1.53042033e-01 -4.54062118e-03 9.88209249e-01 2.84787981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.85, Y:49.08, Z:28.46 [[ 8.81160405e-01 -4.52242600e-01 -1.37960035e-01 2.75851132e+02] [ 4.47352350e-01 8.91889211e-01 -6.64041396e-02 4.90829547e+01] [ 1.53075848e-01 -3.20404743e-03 9.88209249e-01 2.84592654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82863999999995 meters Centerline goodness : 0.999165 with order 1 Centerline is valid? [True, True] Translation: X:275.90, Y:49.10, Z:28.49 [[ 8.81734749e-01 -4.51122417e-01 -1.37957952e-01 2.75903276e+02] [ 4.46217860e-01 8.92457022e-01 -6.64084675e-02 4.91030186e+01] [ 1.53079891e-01 -3.00464871e-03 9.88209249e-01 2.84919404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:275.96, Y:49.13, Z:28.48 [[ 8.81999241e-01 -4.50605245e-01 -1.37957429e-01 2.75962278e+02] [ 4.45694231e-01 8.92718558e-01 -6.64095547e-02 4.91260672e+01] [ 1.53081650e-01 -2.91365318e-03 9.88209249e-01 2.84771367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94863999999995 meters Centerline goodness : 0.988206 with order 1 Centerline is valid? [True, True] Translation: X:276.00, Y:49.17, Z:28.50 [[ 9.05355867e-01 -4.01620164e-01 -1.37956507e-01 2.76004933e+02] [ 3.96129114e-01 9.15789955e-01 -6.64114683e-02 4.91682762e+01] [ 1.53011369e-01 5.47742335e-03 9.88209249e-01 2.85043736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00863999999996 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:276.07, Y:49.17, Z:28.52 [[ 8.87266441e-01 -4.40144135e-01 -1.37954351e-01 2.76069509e+02] [ 4.35105715e-01 8.97926466e-01 -6.64159471e-02 4.91671793e+01] [ 1.53105453e-01 -1.09608561e-03 9.88209249e-01 2.85172378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06863999999996 meters Centerline goodness : 0.998723 with order 1 Centerline is valid? [True, True] Translation: X:276.12, Y:49.19, Z:28.53 [[ 8.89458373e-01 -4.35707407e-01 -1.37923381e-01 2.76122266e+02] [ 4.30605846e-01 9.00088323e-01 -6.64802014e-02 4.91914757e+01] [ 1.53109140e-01 -2.59242193e-04 9.88209251e-01 2.85307854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12863999999996 meters Centerline goodness : 0.999164 with order 1 Centerline is valid? [True, True] Translation: X:276.17, Y:49.22, Z:28.54 [[ 8.90666981e-01 -4.33232818e-01 -1.37919015e-01 2.76174471e+02] [ 4.28100321e-01 9.01282028e-01 -6.64892567e-02 4.92163516e+01] [ 1.53109258e-01 1.76610925e-04 9.88209251e-01 2.85386388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18863999999996 meters Centerline goodness : 0.999213 with order 1 Centerline is valid? [True, True] Translation: X:276.23, Y:49.24, Z:28.55 [[ 8.88910747e-01 -4.36830201e-01 -1.37902354e-01 2.76225868e+02] [ 4.31735303e-01 8.99543892e-01 -6.65237950e-02 4.92423471e+01] [ 1.53108823e-01 -4.03598249e-04 9.88209252e-01 2.85470843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24863999999997 meters Centerline goodness : 0.998379 with order 1 Centerline is valid? [True, True] Translation: X:276.28, Y:49.26, Z:28.56 [[ 8.86641962e-01 -4.41428506e-01 -1.37865533e-01 2.76279990e+02] [ 4.36376899e-01 8.97295737e-01 -6.66000178e-02 4.92647352e+01] [ 1.53105301e-01 -1.11096334e-03 9.88209255e-01 2.85555465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30863999999997 meters Centerline goodness : 0.998819 with order 1 Centerline is valid? [True, True] Translation: X:276.33, Y:49.29, Z:28.56 [[ 8.84280423e-01 -4.46150124e-01 -1.37833961e-01 2.76332731e+02] [ 4.41145224e-01 8.94956217e-01 -6.66652957e-02 4.92890637e+01] [ 1.53098090e-01 -1.85397766e-03 9.88209258e-01 2.85628729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36863999999997 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:276.39, Y:49.31, Z:28.57 [[ 8.78349227e-01 -4.57725943e-01 -1.37802744e-01 2.76387923e+02] [ 4.52851585e-01 8.89085250e-01 -6.67297628e-02 4.93094893e+01] [ 1.53062330e-01 -3.79215521e-03 9.88209261e-01 2.85717483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42864 meters Centerline goodness : 0.998275 with order 1 Centerline is valid? [True, True] Translation: X:276.44, Y:49.33, Z:28.58 [[ 8.75145512e-01 -4.63826801e-01 -1.37786181e-01 2.76442480e+02] [ 4.59021891e-01 8.85912794e-01 -6.67639440e-02 4.93291652e+01] [ 1.53033447e-01 -4.81870759e-03 9.88209261e-01 2.85808688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48864 meters Centerline goodness : 0.998082 with order 1 Centerline is valid? [True, True] Translation: X:276.50, Y:49.34, Z:28.59 [[ 8.71864914e-01 -4.69973219e-01 -1.37756107e-01 2.76500364e+02] [ 4.65234413e-01 8.82661450e-01 -6.68259398e-02 4.93440692e+01] [ 1.52998408e-01 -5.82568941e-03 9.88209264e-01 2.85906394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54864 meters Centerline goodness : 0.998575 with order 1 Centerline is valid? [True, True] Translation: X:276.56, Y:49.36, Z:28.60 [[ 8.71306041e-01 -4.71012911e-01 -1.37741139e-01 2.76559340e+02] [ 4.66282121e-01 8.82106091e-01 -6.68567781e-02 4.93550437e+01] [ 1.52992703e-01 -5.97351589e-03 9.88209264e-01 2.85988507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.62, Y:49.37, Z:28.58 [[ 8.71490313e-01 -4.70674923e-01 -1.37730720e-01 2.76623004e+02] [ 4.65936559e-01 8.82287042e-01 -6.68782365e-02 4.93706789e+01] [ 1.52995938e-01 -5.89004241e-03 9.88209264e-01 2.85814049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66864 meters Centerline goodness : 0.998524 with order 1 Centerline is valid? [True, True] Translation: X:276.68, Y:49.38, Z:28.62 [[ 8.75004286e-01 -4.64109956e-01 -1.37729619e-01 2.76678920e+02] [ 4.59290202e-01 8.85764928e-01 -6.68805039e-02 4.93813984e+01] [ 1.53035973e-01 -4.73713684e-03 9.88209264e-01 2.86183848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72864 meters Centerline goodness : 0.999114 with order 1 Centerline is valid? [True, True] Translation: X:276.74, Y:49.40, Z:28.62 [[ 8.78613454e-01 -4.57240988e-01 -1.37728272e-01 2.76735812e+02] [ 4.52336650e-01 8.89335810e-01 -6.68832772e-02 4.94025100e+01] [ 1.53068460e-01 -3.53499789e-03 9.88209264e-01 2.86225759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:276.79, Y:49.43, Z:28.61 [[ 8.83430653e-01 -4.47863587e-01 -1.37726138e-01 2.76793417e+02] [ 4.42844718e-01 8.94099880e-01 -6.68876719e-02 4.94261341e+01] [ 1.53097476e-01 -1.90067286e-03 9.88209264e-01 2.86114248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84864 meters Centerline goodness : 0.999163 with order 1 Centerline is valid? [True, True] Translation: X:276.84, Y:49.45, Z:28.64 [[ 8.89281499e-01 -4.36131393e-01 -1.37723719e-01 2.76844325e+02] [ 4.30970976e-01 8.99882987e-01 -6.68926515e-02 4.94512665e+01] [ 1.53109217e-01 1.31471788e-04 9.88209264e-01 2.86406423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90864 meters Centerline goodness : 0.886206 with order 1 Centerline is valid? [True, False] Translation: X:276.85, Y:49.47, Z:28.64 [[ 8.98733029e-01 -4.16141501e-01 -1.38221538e-01 2.76845380e+02] [ 4.08999782e-01 9.09199336e-01 -7.79470670e-02 4.94679786e+01] [ 1.58107940e-01 1.35210250e-02 9.87329257e-01 2.86415431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [False, True] Translation: X:276.84, Y:49.48, Z:28.64 [[ 9.05841992e-01 -3.99751915e-01 -1.40173794e-01 2.76842007e+02] [ 3.91818980e-01 9.16429219e-01 -8.14578057e-02 4.94792635e+01] [ 1.61022274e-01 1.88651481e-02 9.86770456e-01 2.86416018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02864 meters Centerline goodness : 0.998672 with order 1 Centerline is valid? [True, True] Translation: X:276.90, Y:49.50, Z:28.66 [[ 9.06003755e-01 -3.97036340e-01 -1.46694719e-01 2.76899174e+02] [ 3.91309029e-01 9.17795982e-01 -6.72887749e-02 4.94952210e+01] [ 1.61351913e-01 3.56091463e-03 9.86890511e-01 2.86562891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08863999999994 meters Centerline goodness : 0.964562 with order 1 Centerline is valid? [True, True] Translation: X:276.93, Y:49.57, Z:28.66 [[ 9.32040989e-01 -3.31332044e-01 -1.46692438e-01 2.76933683e+02] [ 3.24776583e-01 9.43393726e-01 -6.72937472e-02 4.95672825e+01] [ 1.60685301e-01 1.50782619e-02 9.86890511e-01 2.86555028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14863999999994 meters Centerline goodness : 0.998913 with order 1 Centerline is valid? [True, True] Translation: X:277.00, Y:49.56, Z:28.67 [[ 9.00236451e-01 -4.09945924e-01 -1.46692438e-01 2.77000778e+02] [ 4.04386942e-01 9.12108959e-01 -6.72937472e-02 4.95595092e+01] [ 1.61386284e-01 1.25977772e-03 9.86890511e-01 2.86730678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:277.06, Y:49.59, Z:28.66 [[ 8.97057208e-01 -4.16857748e-01 -1.46690095e-01 2.77055820e+02] [ 4.11389411e-01 9.08971736e-01 -6.72988540e-02 4.95896035e+01] [ 1.61391199e-01 2.41702106e-05 9.86890511e-01 2.86643464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26863999999995 meters Centerline goodness : 0.998870 with order 1 Centerline is valid? [True, True] Translation: X:277.11, Y:49.62, Z:28.69 [[ 8.94652892e-01 -4.21993771e-01 -1.46688311e-01 2.77105387e+02] [ 4.16593192e-01 9.06598287e-01 -6.73027424e-02 4.96154056e+01] [ 1.61388710e-01 -8.96758674e-04 9.86890511e-01 2.86924900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32863999999995 meters Centerline goodness : 0.988401 with order 1 Centerline is valid? [True, True] Translation: X:277.17, Y:49.62, Z:28.70 [[ 8.72031608e-01 -4.66952489e-01 -1.46684177e-01 2.77168047e+02] [ 4.62164972e-01 8.84235640e-01 -6.73117507e-02 4.96213470e+01] [ 1.61134767e-01 -9.09431452e-03 9.86890511e-01 2.87002961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38863999999995 meters Centerline goodness : 0.997591 with order 1 Centerline is valid? [True, True] Translation: X:277.21, Y:49.67, Z:28.72 [[ 8.94141426e-01 -4.23078640e-01 -1.46681884e-01 2.77208953e+02] [ 4.17690257e-01 9.06092327e-01 -6.73167467e-02 4.96706910e+01] [ 1.61387608e-01 -1.07690226e-03 9.86890511e-01 2.87153505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44863999999995 meters Centerline goodness : 0.998623 with order 1 Centerline is valid? [True, True] Translation: X:277.26, Y:49.70, Z:28.72 [[ 8.92841327e-01 -4.25817017e-01 -1.46677311e-01 2.77260922e+02] [ 4.20463650e-01 9.04807954e-01 -6.73267109e-02 4.96962326e+01] [ 1.61383657e-01 -1.56040752e-03 9.86890511e-01 2.87229780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50863999999996 meters Centerline goodness : 0.998622 with order 1 Centerline is valid? [True, True] Translation: X:277.31, Y:49.72, Z:28.73 [[ 8.92290831e-01 -4.26980293e-01 -1.46645499e-01 2.77313274e+02] [ 4.21631151e-01 9.04259344e-01 -6.73959305e-02 4.97220203e+01] [ 1.61382297e-01 -1.69353977e-03 9.86890514e-01 2.87327141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:277.37, Y:49.75, Z:28.72 [[ 8.90969376e-01 -4.29733982e-01 -1.46636543e-01 2.77371245e+02] [ 4.24418623e-01 9.02952931e-01 -6.74154103e-02 4.97472499e+01] [ 1.61376589e-01 -2.17021378e-03 9.86890514e-01 2.87221116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.43, Y:49.77, Z:28.73 [[ 8.90179852e-01 -4.31367076e-01 -1.46636543e-01 2.77425695e+02] [ 4.26073701e-01 9.02173134e-01 -6.74154103e-02 4.97672962e+01] [ 1.61372338e-01 -2.46613475e-03 9.86890514e-01 2.87326245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:277.48, Y:49.79, Z:28.74 [[ 8.90533393e-01 -4.30647288e-01 -1.46605557e-01 2.77479254e+02] [ 4.25333138e-01 9.02517481e-01 -6.74827286e-02 4.97879694e+01] [ 1.61375332e-01 -2.26057847e-03 9.86890517e-01 2.87436839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74863999999997 meters Centerline goodness : 0.996312 with order 1 Centerline is valid? [True, True] Translation: X:277.53, Y:49.81, Z:28.78 [[ 8.91533766e-01 -4.28576261e-01 -1.46594449e-01 2.77531010e+02] [ 4.23230305e-01 9.03503699e-01 -6.75068512e-02 4.98080057e+01] [ 1.61380461e-01 -1.85857594e-03 9.86890517e-01 2.87784110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80863999999997 meters Centerline goodness : 0.997836 with order 1 Centerline is valid? [True, True] Translation: X:277.59, Y:49.83, Z:28.79 [[ 8.93271226e-01 -4.24943376e-01 -1.46593467e-01 2.77585916e+02] [ 4.19548386e-01 9.05219139e-01 -6.75089824e-02 4.98304355e+01] [ 1.61386707e-01 -1.19922115e-03 9.86890517e-01 2.87872481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86863999999997 meters Centerline goodness : 0.996013 with order 1 Centerline is valid? [True, True] Translation: X:277.64, Y:49.86, Z:28.80 [[ 8.95112714e-01 -4.21051372e-01 -1.46591174e-01 2.77637755e+02] [ 4.15603614e-01 9.07036659e-01 -6.75139624e-02 4.98550017e+01] [ 1.61390415e-01 -4.91215438e-04 9.86890517e-01 2.87984511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92864 meters Centerline goodness : 0.996267 with order 1 Centerline is valid? [True, True] Translation: X:277.69, Y:49.88, Z:28.81 [[ 8.95474654e-01 -4.20294183e-01 -1.46553556e-01 2.77690217e+02] [ 4.14822992e-01 9.07387861e-01 -6.75955224e-02 4.98782724e+01] [ 1.61390923e-01 -2.63707670e-04 9.86890521e-01 2.88085467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98864 meters Centerline goodness : 0.993855 with order 1 Centerline is valid? [True, True] Translation: X:277.74, Y:49.90, Z:28.82 [[ 8.94383331e-01 -4.22624530e-01 -1.46516090e-01 2.77743868e+02] [ 4.17171090e-01 9.06304670e-01 -6.76766362e-02 4.99013665e+01] [ 1.61390023e-01 -5.93421646e-04 9.86890525e-01 2.88181223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04864 meters Centerline goodness : 0.993215 with order 1 Centerline is valid? [True, True] Translation: X:277.80, Y:49.92, Z:28.83 [[ 8.91783078e-01 -4.28094602e-01 -1.46485337e-01 2.77799180e+02] [ 4.22703358e-01 9.03732670e-01 -6.77431366e-02 4.99203965e+01] [ 1.61384056e-01 -1.50766084e-03 9.86890528e-01 2.88290300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10864 meters Centerline goodness : 0.997099 with order 1 Centerline is valid? [True, True] Translation: X:277.86, Y:49.94, Z:28.81 [[ 8.91201107e-01 -4.29315900e-01 -1.46452874e-01 2.77858066e+02] [ 4.23929510e-01 9.03152885e-01 -6.78132462e-02 4.99449593e+01] [ 1.61382641e-01 -1.65045497e-03 9.86890531e-01 2.88141075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16864 meters Centerline goodness : 0.997251 with order 1 Centerline is valid? [True, True] Translation: X:277.91, Y:49.97, Z:28.82 [[ 8.91367351e-01 -4.28971617e-01 -1.46449983e-01 2.77911315e+02] [ 4.23579586e-01 9.03316584e-01 -6.78194887e-02 4.99670755e+01] [ 1.61383334e-01 -1.58114523e-03 9.86890531e-01 2.88249264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22864 meters Centerline goodness : 0.991941 with order 1 Centerline is valid? [True, True] Translation: X:277.96, Y:49.99, Z:28.86 [[ 8.91447286e-01 -4.28816280e-01 -1.46418355e-01 2.77962169e+02] [ 4.23410961e-01 9.03390512e-01 -6.78877053e-02 4.99882575e+01] [ 1.61384306e-01 -1.47682562e-03 9.86890533e-01 2.88599871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28864 meters Centerline goodness : 0.996662 with order 1 Centerline is valid? [True, True] Translation: X:278.02, Y:50.01, Z:28.85 [[ 8.91011657e-01 -4.29721268e-01 -1.46416733e-01 2.78021551e+02] [ 4.24327505e-01 9.02960106e-01 -6.78912028e-02 5.00102453e+01] [ 1.61382762e-01 -1.63679398e-03 9.86890533e-01 2.88480277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34864 meters Centerline goodness : 0.992143 with order 1 Centerline is valid? [True, True] Translation: X:278.07, Y:50.03, Z:28.88 [[ 8.91274991e-01 -4.29175843e-01 -1.46413749e-01 2.78073783e+02] [ 4.23773712e-01 9.03219659e-01 -6.78976364e-02 5.00296450e+01] [ 1.61383802e-01 -1.53083279e-03 9.86890533e-01 2.88793494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40864 meters Centerline goodness : 0.996514 with order 1 Centerline is valid? [True, True] Translation: X:278.13, Y:50.05, Z:28.87 [[ 8.92172448e-01 -4.27308240e-01 -1.46410354e-01 2.78131441e+02] [ 4.21879902e-01 9.04105229e-01 -6.79049571e-02 5.00537618e+01] [ 1.61386714e-01 -1.18465403e-03 9.86890533e-01 2.88698850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46864 meters Centerline goodness : 0.991797 with order 1 Centerline is valid? [True, True] Translation: X:278.18, Y:50.08, Z:28.90 [[ 8.95970850e-01 -4.19285787e-01 -1.46409240e-01 2.78182030e+02] [ 4.13750205e-01 9.07854260e-01 -6.79073598e-02 5.00769982e+01] [ 1.61390843e-01 2.66161895e-04 9.86890533e-01 2.89036982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52863999999994 meters Centerline goodness : 0.990374 with order 1 Centerline is valid? [True, True] Translation: X:278.23, Y:50.10, Z:28.91 [[ 8.97303481e-01 -4.16426206e-01 -1.46409282e-01 2.78232318e+02] [ 4.10852769e-01 9.09169184e-01 -6.79072679e-02 5.01033718e+01] [ 1.61389174e-01 7.80768814e-04 9.86890533e-01 2.89147028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58863999999994 meters Centerline goodness : 0.990285 with order 1 Centerline is valid? [True, True] Translation: X:278.28, Y:50.13, Z:28.92 [[ 8.97154082e-01 -4.16761427e-01 -1.46370989e-01 2.78283724e+02] [ 4.11178971e-01 9.09015541e-01 -6.79897096e-02 5.01310720e+01] [ 1.61388992e-01 8.12572963e-04 9.86890538e-01 2.89243092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64863999999994 meters Centerline goodness : 0.996173 with order 1 Centerline is valid? [True, True] Translation: X:278.34, Y:50.15, Z:28.91 [[ 8.91969004e-01 -4.27757719e-01 -1.46337381e-01 2.78341506e+02] [ 4.22309630e-01 9.03892773e-01 -6.80619686e-02 5.01541464e+01] [ 1.61387334e-01 -1.09051905e-03 9.86890541e-01 2.89142701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70863999999995 meters Centerline goodness : 0.996316 with order 1 Centerline is valid? [True, True] Translation: X:278.40, Y:50.17, Z:28.92 [[ 8.87191258e-01 -4.37581642e-01 -1.46335155e-01 2.78396842e+02] [ 4.32264771e-01 8.99174113e-01 -6.80667547e-02 5.01727077e+01] [ 1.61365546e-01 -2.86730251e-03 9.86890541e-01 2.89235401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76863999999995 meters Centerline goodness : 0.996117 with order 1 Centerline is valid? [True, True] Translation: X:278.45, Y:50.19, Z:28.93 [[ 8.86401210e-01 -4.39190444e-01 -1.46303278e-01 2.78450324e+02] [ 4.33884026e-01 8.98388694e-01 -6.81352044e-02 5.01923620e+01] [ 1.61361541e-01 -3.08352751e-03 9.86890543e-01 2.89339899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82863999999995 meters Centerline goodness : 0.986372 with order 1 Centerline is valid? [True, True] Translation: X:278.50, Y:50.22, Z:28.97 [[ 8.90267744e-01 -4.31311141e-01 -1.46267028e-01 2.78500488e+02] [ 4.25885837e-01 9.02201890e-01 -6.82129357e-02 5.02163288e+01] [ 1.61383388e-01 -1.56527910e-03 9.86890547e-01 2.89668723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88863999999995 meters Centerline goodness : 0.989428 with order 1 Centerline is valid? [True, True] Translation: X:278.55, Y:50.24, Z:28.98 [[ 8.90961673e-01 -4.29877512e-01 -1.46262166e-01 2.78553567e+02] [ 4.24431293e-01 9.02886289e-01 -6.82233582e-02 5.02408300e+01] [ 1.61385792e-01 -1.29384295e-03 9.86890547e-01 2.89761136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94863999999995 meters Centerline goodness : 0.996113 with order 1 Centerline is valid? [True, True] Translation: X:278.61, Y:50.27, Z:28.97 [[ 8.91657138e-01 -4.28435516e-01 -1.46255109e-01 2.78609067e+02] [ 4.22967531e-01 9.03571789e-01 -6.82384845e-02 5.02687131e+01] [ 1.61387780e-01 -1.01583037e-03 9.86890547e-01 2.89664713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00863999999996 meters Centerline goodness : 0.988663 with order 1 Centerline is valid? [True, True] Translation: X:278.66, Y:50.30, Z:29.00 [[ 8.94456385e-01 -4.22561316e-01 -1.46252214e-01 2.78656464e+02] [ 4.17014066e-01 9.06334337e-01 -6.82446882e-02 5.03000885e+01] [ 1.61390969e-01 5.26666998e-05 9.86890547e-01 2.89973396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06863999999996 meters Centerline goodness : 0.996123 with order 1 Centerline is valid? [True, True] Translation: X:278.71, Y:50.33, Z:28.99 [[ 8.94719292e-01 -4.22006232e-01 -1.46246806e-01 2.78710610e+02] [ 4.16449719e-01 9.06592914e-01 -6.82562755e-02 5.03318966e+01] [ 1.61390892e-01 1.65765269e-04 9.86890547e-01 2.89870135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12863999999996 meters Centerline goodness : 0.997153 with order 1 Centerline is valid? [True, True] Translation: X:278.76, Y:50.36, Z:29.00 [[ 8.97368163e-01 -4.16344429e-01 -1.46245329e-01 2.78758547e+02] [ 4.10712487e-01 9.09206193e-01 -6.82594395e-02 5.03647345e+01] [ 1.61386596e-01 1.18906506e-03 9.86890547e-01 2.89981535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18863999999996 meters Centerline goodness : 0.998673 with order 1 Centerline is valid? [True, True] Translation: X:278.81, Y:50.39, Z:29.01 [[ 8.99585087e-01 -4.11545735e-01 -1.46208001e-01 2.78808139e+02] [ 4.05837668e-01 9.11386596e-01 -6.83393029e-02 5.03945316e+01] [ 1.61376761e-01 2.14030365e-03 9.86890551e-01 2.90087879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24863999999997 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:278.86, Y:50.42, Z:29.02 [[ 9.01980148e-01 -4.06281465e-01 -1.46175182e-01 2.78856930e+02] [ 4.00493165e-01 9.13742510e-01 -6.84094304e-02 5.04239179e+01] [ 1.61359961e-01 3.16178694e-03 9.86890554e-01 2.90187960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:278.91, Y:50.45, Z:29.03 [[ 9.03696412e-01 -4.02463182e-01 -1.46137542e-01 2.78906032e+02] [ 3.96612209e-01 9.15427720e-01 -6.84897443e-02 5.04549728e+01] [ 1.61342957e-01 3.93400277e-03 9.86890558e-01 2.90281567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:278.96, Y:50.48, Z:29.04 [[ 9.04736008e-01 -4.00134420e-01 -1.46099974e-01 2.78956046e+02] [ 3.94240336e-01 9.16445711e-01 -6.85697923e-02 5.04816970e+01] [ 1.61329828e-01 4.43905754e-03 9.86890562e-01 2.90379457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42864 meters Centerline goodness : 0.999803 with order 1 Centerline is valid? [True, True] Translation: X:279.01, Y:50.51, Z:29.05 [[ 9.04522052e-01 -4.00631382e-01 -1.46062841e-01 2.79006099e+02] [ 3.94730984e-01 9.16228570e-01 -6.86488001e-02 5.05092433e+01] [ 1.61329812e-01 4.43882468e-03 9.86890566e-01 2.90479767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:279.06, Y:50.53, Z:29.06 [[ 9.03954324e-01 -4.01924269e-01 -1.46025553e-01 2.79057960e+02] [ 3.96027827e-01 9.15662830e-01 -6.87280266e-02 5.05337017e+01] [ 1.61333633e-01 4.29681435e-03 9.86890570e-01 2.90585241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54864 meters Centerline goodness : 0.994993 with order 1 Centerline is valid? [True, True] Translation: X:279.11, Y:50.56, Z:29.09 [[ 9.02799591e-01 -4.04524870e-01 -1.45988109e-01 2.79108313e+02] [ 3.98649318e-01 9.14518591e-01 -6.88074729e-02 5.05580546e+01] [ 1.61343174e-01 3.92129838e-03 9.86890573e-01 2.90878132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.17, Y:50.58, Z:29.08 [[ 9.01444515e-01 -4.07536265e-01 -1.45986229e-01 2.79166347e+02] [ 4.01699220e-01 9.13182742e-01 -6.88114608e-02 5.05823489e+01] [ 1.61355271e-01 3.38715943e-03 9.86890573e-01 2.90786595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66864 meters Centerline goodness : 0.994602 with order 1 Centerline is valid? [True, True] Translation: X:279.22, Y:50.61, Z:29.11 [[ 8.99986599e-01 -4.10745838e-01 -1.45986229e-01 2.79216771e+02] [ 4.04950657e-01 9.11745550e-01 -6.88114608e-02 5.06057891e+01] [ 1.61366316e-01 2.81217313e-03 9.86890573e-01 2.91096148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72864 meters Centerline goodness : 0.994211 with order 1 Centerline is valid? [True, True] Translation: X:279.27, Y:50.63, Z:29.12 [[ 8.96408157e-01 -4.18498436e-01 -1.45984505e-01 2.79271263e+02] [ 4.12804369e-01 9.08216402e-01 -6.88151194e-02 5.06268532e+01] [ 1.61384541e-01 1.42339310e-03 9.86890573e-01 2.91194440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78864 meters Centerline goodness : 0.993767 with order 1 Centerline is valid? [True, True] Translation: X:279.33, Y:50.65, Z:29.13 [[ 8.93845393e-01 -4.23956230e-01 -1.45950430e-01 2.79325692e+02] [ 4.18322476e-01 9.05682529e-01 -6.88873143e-02 5.06475415e+01] [ 1.61389961e-01 5.20263354e-04 9.86890576e-01 2.91310632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84864 meters Centerline goodness : 0.994060 with order 1 Centerline is valid? [True, True] Translation: X:279.38, Y:50.67, Z:29.14 [[ 8.91756966e-01 -4.28342260e-01 -1.45919235e-01 2.79380963e+02] [ 4.22755921e-01 9.03616550e-01 -6.89533303e-02 5.06668948e+01] [ 1.61390661e-01 -1.98607935e-04 9.86890579e-01 2.91408299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90864 meters Centerline goodness : 0.995980 with order 1 Centerline is valid? [True, True] Translation: X:279.43, Y:50.69, Z:29.15 [[ 8.90731235e-01 -4.30474453e-01 -1.45909607e-01 2.79434342e+02] [ 4.24913166e-01 9.02602587e-01 -6.89736978e-02 5.06899589e+01] [ 1.61389803e-01 -5.61886035e-04 9.86890579e-01 2.91502267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96864 meters Centerline goodness : 0.997399 with order 1 Centerline is valid? [True, True] Translation: X:279.49, Y:50.71, Z:29.16 [[ 8.91404196e-01 -4.29090614e-01 -1.45875991e-01 2.79487842e+02] [ 4.23499274e-01 9.03261419e-01 -6.90447207e-02 5.07139617e+01] [ 1.61390597e-01 -2.31622755e-04 9.86890582e-01 2.91609730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:279.54, Y:50.74, Z:29.15 [[ 8.92414858e-01 -4.26986287e-01 -1.45871288e-01 2.79544209e+02] [ 4.21365363e-01 9.04258085e-01 -6.90546557e-02 5.07410377e+01] [ 1.61390683e-01 1.60292266e-04 9.86890582e-01 2.91486334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08863999999994 meters Centerline goodness : 0.999901 with order 1 Centerline is valid? [True, True] Translation: X:279.60, Y:50.76, Z:29.16 [[ 8.92411375e-01 -4.26994274e-01 -1.45869212e-01 2.79597839e+02] [ 4.21372739e-01 9.04254313e-01 -6.90590411e-02 5.07634679e+01] [ 1.61390679e-01 1.63764380e-04 9.86890582e-01 2.91585722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14863999999994 meters Centerline goodness : 0.997204 with order 1 Centerline is valid? [True, True] Translation: X:279.65, Y:50.79, Z:29.19 [[ 8.92990478e-01 -4.25793273e-01 -1.45835847e-01 2.79647845e+02] [ 4.20144314e-01 9.04820356e-01 -6.91294297e-02 5.07888040e+01] [ 1.61390089e-01 4.59820666e-04 9.86890585e-01 2.91910748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20863999999995 meters Centerline goodness : 0.996073 with order 1 Centerline is valid? [True, True] Translation: X:279.70, Y:50.81, Z:29.20 [[ 8.95214530e-01 -4.21097774e-01 -1.45834189e-01 2.79699453e+02] [ 4.15386197e-01 9.07014303e-01 -6.91329272e-02 5.08144577e+01] [ 1.61385417e-01 1.31129176e-03 9.86890585e-01 2.92024285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26863999999995 meters Centerline goodness : 0.996369 with order 1 Centerline is valid? [True, True] Translation: X:279.75, Y:50.84, Z:29.21 [[ 8.95806682e-01 -4.19848174e-01 -1.45800889e-01 2.79751861e+02] [ 4.14108719e-01 9.07592916e-01 -6.92030864e-02 5.08398162e+01] [ 1.61382644e-01 1.61516788e-03 9.86890588e-01 2.92112093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32863999999995 meters Centerline goodness : 0.996911 with order 1 Centerline is valid? [True, True] Translation: X:279.80, Y:50.87, Z:29.22 [[ 8.98059719e-01 -4.15019071e-01 -1.45766637e-01 2.79802858e+02] [ 4.09204545e-01 9.09809097e-01 -6.92751587e-02 5.08704083e+01] [ 1.61370325e-01 2.56485891e-03 9.86890592e-01 2.92189696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:279.86, Y:50.90, Z:29.21 [[ 9.00718482e-01 -4.09218397e-01 -1.45761857e-01 2.79855278e+02] [ 4.03326589e-01 9.12429297e-01 -6.92852153e-02 5.09044958e+01] [ 1.61350174e-01 3.61684128e-03 9.86890592e-01 2.92121184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44863999999995 meters Centerline goodness : 0.995777 with order 1 Centerline is valid? [True, True] Translation: X:279.90, Y:50.94, Z:29.24 [[ 9.00390705e-01 -4.09939946e-01 -1.45759458e-01 2.79901960e+02] [ 4.04056706e-01 9.12105826e-01 -6.92902625e-02 5.09366732e+01] [ 1.61352897e-01 3.49322183e-03 9.86890592e-01 2.92393505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50863999999996 meters Centerline goodness : 0.997400 with order 1 Centerline is valid? [True, True] Translation: X:279.95, Y:50.97, Z:29.25 [[ 8.96075226e-01 -4.19290765e-01 -1.45754734e-01 2.79952144e+02] [ 4.13528182e-01 9.07850167e-01 -6.93001974e-02 5.09665706e+01] [ 1.61380393e-01 1.82449977e-03 9.86890592e-01 2.92483586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56863999999996 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:280.00, Y:50.99, Z:29.26 [[ 8.90504544e-01 -4.31006910e-01 -1.45721311e-01 2.80004579e+02] [ 4.25387763e-01 9.02348601e-01 -6.93704086e-02 5.09930589e+01] [ 1.61390547e-01 -2.13398424e-04 9.86890595e-01 2.92551877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.06, Y:51.02, Z:29.25 [[ 8.86372434e-01 -4.39453122e-01 -1.45687546e-01 2.80060615e+02] [ 4.33935182e-01 8.98263976e-01 -6.94412476e-02 5.10159452e+01] [ 1.61382048e-01 -1.66814439e-03 9.86890598e-01 2.92483646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:280.11, Y:51.04, Z:29.26 [[ 8.84089424e-01 -4.44038903e-01 -1.45654875e-01 2.80113621e+02] [ 4.38571362e-01 8.96004219e-01 -6.95097104e-02 5.10377924e+01] [ 1.61372398e-01 -2.42725704e-03 9.86890601e-01 2.92606757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.17, Y:51.06, Z:29.27 [[ 8.84553157e-01 -4.43124885e-01 -1.45622966e-01 2.80167151e+02] [ 4.37634038e-01 8.96457227e-01 -6.95764956e-02 5.10585761e+01] [ 1.61375837e-01 -2.18545800e-03 9.86890603e-01 2.92708676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:280.22, Y:51.08, Z:29.28 [[ 8.84722241e-01 -4.42799297e-01 -1.45586194e-01 2.80219065e+02] [ 4.37291421e-01 8.96618437e-01 -6.96533580e-02 5.10818744e+01] [ 1.61377723e-01 -2.03971860e-03 9.86890607e-01 2.92799563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.27, Y:51.10, Z:29.29 [[ 8.85618764e-01 -4.41015632e-01 -1.45549363e-01 2.80272951e+02] [ 4.35471162e-01 8.97497945e-01 -6.97302359e-02 5.11038112e+01] [ 1.61382379e-01 -1.62814505e-03 9.86890610e-01 2.92897524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:280.33, Y:51.12, Z:29.30 [[ 8.84095261e-01 -4.44072435e-01 -1.45517155e-01 2.80329268e+02] [ 4.38557984e-01 8.95988404e-01 -6.97973865e-02 5.11219480e+01] [ 1.61376779e-01 -2.11017154e-03 9.86890613e-01 2.92975777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:280.38, Y:51.14, Z:29.31 [[ 8.82883806e-01 -4.46486633e-01 -1.45484955e-01 2.80384408e+02] [ 4.40993654e-01 8.94786878e-01 -6.98644396e-02 5.11413116e+01] [ 1.61371567e-01 -2.47575975e-03 9.86890616e-01 2.93076671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:280.44, Y:51.16, Z:29.32 [[ 8.82326632e-01 -4.47597089e-01 -1.45452950e-01 2.80440267e+02] [ 4.42108119e-01 8.94231550e-01 -6.99310096e-02 5.11584185e+01] [ 1.61369534e-01 -2.60393810e-03 9.86890619e-01 2.93177100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:280.49, Y:51.18, Z:29.33 [[ 8.81937554e-01 -4.48373687e-01 -1.45420729e-01 2.80494831e+02] [ 4.42884164e-01 8.93842214e-01 -6.99979494e-02 5.11778317e+01] [ 1.61368425e-01 -2.67071800e-03 9.86890621e-01 2.93260981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:280.55, Y:51.19, Z:29.34 [[ 8.82691718e-01 -4.46899131e-01 -1.45383967e-01 2.80552891e+02] [ 4.41377159e-01 8.94581358e-01 -7.00742215e-02 5.11915027e+01] [ 1.61373896e-01 -2.31522762e-03 9.86890625e-01 2.93354761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22864 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:280.61, Y:51.21, Z:29.37 [[ 8.84754021e-01 -4.42812782e-01 -1.45351853e-01 2.80605439e+02] [ 4.37224959e-01 8.96612853e-01 -7.01407723e-02 5.12090113e+01] [ 1.61383570e-01 -1.49412771e-03 9.86890628e-01 2.93658779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28864 meters Centerline goodness : 0.998382 with order 1 Centerline is valid? [True, True] Translation: X:280.66, Y:51.23, Z:29.37 [[ 8.87082421e-01 -4.38140581e-01 -1.45318992e-01 2.80660888e+02] [ 4.32479150e-01 8.98906286e-01 -7.02087898e-02 5.12270079e+01] [ 1.61389475e-01 -5.66450853e-04 9.86890630e-01 2.93746416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:280.72, Y:51.25, Z:29.37 [[ 8.88366168e-01 -4.35543012e-01 -1.45285363e-01 2.80717244e+02] [ 4.29835636e-01 9.00167920e-01 -7.02783109e-02 5.12483521e+01] [ 1.61390451e-01 -1.59529721e-05 9.86890633e-01 2.93656354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:280.77, Y:51.27, Z:29.38 [[ 8.89555096e-01 -4.33122771e-01 -1.45245982e-01 2.80770116e+02] [ 4.27370010e-01 9.01334788e-01 -7.03596085e-02 5.12705764e+01] [ 1.61389605e-01 5.14971414e-04 9.86890637e-01 2.93750680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:280.82, Y:51.30, Z:29.38 [[ 8.91574614e-01 -4.28963228e-01 -1.45207632e-01 2.80820444e+02] [ 4.23142634e-01 9.03320931e-01 -7.04386672e-02 5.13001314e+01] [ 1.61384692e-01 1.35778745e-03 9.86890641e-01 2.93836736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52863999999994 meters Centerline goodness : 0.999754 with order 1 Centerline is valid? [True, True] Translation: X:280.87, Y:51.33, Z:29.39 [[ 8.92508913e-01 -4.27027299e-01 -1.45174125e-01 2.80871158e+02] [ 4.21170005e-01 9.04236969e-01 -7.05076604e-02 5.13272080e+01] [ 1.61380506e-01 1.78572858e-03 9.86890644e-01 2.93920492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58863999999994 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:280.92, Y:51.36, Z:29.40 [[ 8.91959242e-01 -4.28187234e-01 -1.45135811e-01 2.80921783e+02] [ 4.22332372e-01 9.03688509e-01 -7.05864409e-02 5.13560437e+01] [ 1.61381777e-01 1.66467718e-03 9.86890648e-01 2.94011931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64863999999994 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:280.97, Y:51.39, Z:29.41 [[ 8.90267812e-01 -4.31704413e-01 -1.45101768e-01 2.80971729e+02] [ 4.25884496e-01 9.02014454e-01 -7.06563536e-02 5.13863093e+01] [ 1.61386551e-01 1.10648416e-03 9.86890651e-01 2.94105833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70863999999995 meters Centerline goodness : 0.996273 with order 1 Centerline is valid? [True, True] Translation: X:281.02, Y:51.42, Z:29.44 [[ 8.89533710e-01 -4.33226343e-01 -1.45067969e-01 2.81017308e+02] [ 4.27415217e-01 9.01284700e-01 -7.07256805e-02 5.14154990e+01] [ 1.61387769e-01 9.08619631e-04 9.86890654e-01 2.94397591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76863999999995 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:281.07, Y:51.44, Z:29.43 [[ 8.88558054e-01 -4.35236876e-01 -1.45029120e-01 2.81071144e+02] [ 4.29439350e-01 9.00315756e-01 -7.08052545e-02 5.14434738e+01] [ 1.61389060e-01 6.33367987e-04 9.86890658e-01 2.94304776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82863999999995 meters Centerline goodness : 0.994798 with order 1 Centerline is valid? [True, True] Translation: X:281.12, Y:51.47, Z:29.46 [[ 8.88353269e-01 -4.35667955e-01 -1.44989320e-01 2.81116837e+02] [ 4.29862846e-01 9.00107224e-01 -7.08866625e-02 5.14732323e+01] [ 1.61388982e-01 6.46876605e-04 9.86890662e-01 2.94616454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88863999999995 meters Centerline goodness : 0.994112 with order 1 Centerline is valid? [True, True] Translation: X:281.17, Y:51.50, Z:29.47 [[ 8.86267416e-01 -4.39906790e-01 -1.44955454e-01 2.81168743e+02] [ 4.34146581e-01 8.98043437e-01 -7.09558473e-02 5.15001223e+01] [ 1.61390253e-01 -4.60594397e-05 9.86890665e-01 2.94709542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94863999999995 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:281.22, Y:51.53, Z:29.46 [[ 8.84163037e-01 -4.44132524e-01 -1.44920752e-01 2.81223455e+02] [ 4.38416989e-01 8.95960802e-01 -7.10266537e-02 5.15266997e+01] [ 1.61388560e-01 -7.36577991e-04 9.86890668e-01 2.94579424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:281.28, Y:51.55, Z:29.47 [[ 8.83284501e-01 -4.45889848e-01 -1.44881794e-01 2.81276337e+02] [ 4.40184763e-01 8.95087318e-01 -7.11060343e-02 5.15486927e+01] [ 1.61387315e-01 -9.67900170e-04 9.86890672e-01 2.94681635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06863999999996 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:281.33, Y:51.58, Z:29.48 [[ 8.85330811e-01 -4.41825376e-01 -1.44843679e-01 2.81328018e+02] [ 4.36053412e-01 8.97101063e-01 -7.11835918e-02 5.15755110e+01] [ 1.61390136e-01 -1.38553345e-04 9.86890675e-01 2.94783675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12863999999996 meters Centerline goodness : 0.995683 with order 1 Centerline is valid? [True, True] Translation: X:281.38, Y:51.60, Z:29.51 [[ 8.88817898e-01 -4.34778952e-01 -1.44810246e-01 2.81376257e+02] [ 4.28902604e-01 9.00536381e-01 -7.12515425e-02 5.16021090e+01] [ 1.61385565e-01 1.22015487e-03 9.86890678e-01 2.95081428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18863999999996 meters Centerline goodness : 0.993330 with order 1 Centerline is valid? [True, True] Translation: X:281.43, Y:51.63, Z:29.52 [[ 8.90568973e-01 -4.31192118e-01 -1.44776596e-01 2.81426388e+02] [ 4.25257470e-01 9.02258036e-01 -7.13198512e-02 5.16301240e+01] [ 1.61378405e-01 1.94791782e-03 9.86890681e-01 2.95189987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24863999999997 meters Centerline goodness : 0.994751 with order 1 Centerline is valid? [True, True] Translation: X:281.48, Y:51.66, Z:29.53 [[ 8.89627646e-01 -4.33144028e-01 -1.44737357e-01 2.81478371e+02] [ 4.27222086e-01 9.01323147e-01 -7.13993956e-02 5.16576432e+01] [ 1.61381352e-01 1.68388065e-03 9.86890685e-01 2.95261734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30863999999997 meters Centerline goodness : 0.999019 with order 1 Centerline is valid? [True, True] Translation: X:281.53, Y:51.69, Z:29.51 [[ 8.86775341e-01 -4.38965235e-01 -1.44703203e-01 2.81532475e+02] [ 4.33108786e-01 8.98503771e-01 -7.14685482e-02 5.16852653e+01] [ 1.61388582e-01 7.04317506e-04 9.86890688e-01 2.95148730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:281.58, Y:51.71, Z:29.52 [[ 8.84598736e-01 -4.43348014e-01 -1.44663799e-01 2.81584619e+02] [ 4.37536642e-01 8.96349563e-01 -7.15482208e-02 5.17088153e+01] [ 1.61390095e-01 -4.24734823e-06 9.86890692e-01 2.95249339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:281.64, Y:51.73, Z:29.53 [[ 8.83685245e-01 -4.45178660e-01 -1.44624857e-01 2.81636420e+02] [ 4.39378761e-01 8.95441734e-01 -7.16268516e-02 5.17327194e+01] [ 1.61389879e-01 -2.49498737e-04 9.86890695e-01 2.95339028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48864 meters Centerline goodness : 0.993768 with order 1 Centerline is valid? [True, True] Translation: X:281.69, Y:51.76, Z:29.56 [[ 8.84728591e-01 -4.43114193e-01 -1.44586072e-01 2.81686531e+02] [ 4.37274077e-01 8.96465150e-01 -7.17050605e-02 5.17550388e+01] [ 1.61389904e-01 2.15776198e-04 9.86890699e-01 2.95638935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54864 meters Centerline goodness : 0.998627 with order 1 Centerline is valid? [True, True] Translation: X:281.74, Y:51.78, Z:29.56 [[ 8.87220848e-01 -4.38113962e-01 -1.44552150e-01 2.81741137e+02] [ 4.32196570e-01 8.98918632e-01 -7.17733795e-02 5.17843023e+01] [ 1.61385541e-01 1.20389519e-03 9.86890702e-01 2.95559976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60864 meters Centerline goodness : 0.998235 with order 1 Centerline is valid? [True, True] Translation: X:281.79, Y:51.81, Z:29.57 [[ 8.88510035e-01 -4.35495133e-01 -1.44547244e-01 2.81792749e+02] [ 4.29541657e-01 9.00189496e-01 -7.17832594e-02 5.18098493e+01] [ 1.61381171e-01 1.69108383e-03 9.86890702e-01 2.95659851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66864 meters Centerline goodness : 0.992342 with order 1 Centerline is valid? [True, True] Translation: X:281.84, Y:51.84, Z:29.60 [[ 8.89754670e-01 -4.32959638e-01 -1.44508055e-01 2.81840026e+02] [ 4.26960082e-01 9.01410524e-01 -7.18620655e-02 5.18395464e+01] [ 1.61374456e-01 2.24043731e-03 9.86890706e-01 2.95978369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72864 meters Centerline goodness : 0.998036 with order 1 Centerline is valid? [True, True] Translation: X:281.89, Y:51.87, Z:29.59 [[ 8.91767057e-01 -4.28800230e-01 -1.44505633e-01 2.81891465e+02] [ 4.22745523e-01 9.03394358e-01 -7.18669349e-02 5.18742086e+01] [ 1.61362132e-01 2.99945547e-03 9.86890706e-01 2.95885002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78864 meters Centerline goodness : 0.987973 with order 1 Centerline is valid? [True, True] Translation: X:281.94, Y:51.91, Z:29.62 [[ 8.92119585e-01 -4.28068816e-01 -1.44498218e-01 2.81937815e+02] [ 4.22002164e-01 9.03740657e-01 -7.18818408e-02 5.19059485e+01] [ 1.61359289e-01 3.14863718e-03 9.86890706e-01 2.96223307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84864 meters Centerline goodness : 0.993530 with order 1 Centerline is valid? [True, True] Translation: X:281.99, Y:51.94, Z:29.62 [[ 8.90302480e-01 -4.31835867e-01 -1.44496637e-01 2.81988747e+02] [ 4.25817874e-01 9.01948825e-01 -7.18850187e-02 5.19396717e+01] [ 1.61371102e-01 2.47015955e-03 9.86890706e-01 2.96243473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90864 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:282.04, Y:51.98, Z:29.62 [[ 8.86301840e-01 -4.39989150e-01 -1.44494280e-01 2.82038679e+02] [ 4.34077532e-01 8.98002539e-01 -7.18897577e-02 5.19753356e+01] [ 1.61386943e-01 9.94304235e-04 9.86890706e-01 2.96165709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96864 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:282.09, Y:52.00, Z:29.62 [[ 8.83001570e-01 -4.46586798e-01 -1.44459199e-01 2.82088549e+02] [ 4.40751082e-01 8.94740306e-01 -7.19601839e-02 5.20036723e+01] [ 1.61389936e-01 -1.29592816e-04 9.86890709e-01 2.96237096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02863999999994 meters Centerline goodness : 0.995636 with order 1 Centerline is valid? [True, True] Translation: X:282.14, Y:52.03, Z:29.65 [[ 8.78724421e-01 -4.54957470e-01 -1.44419849e-01 2.82137767e+02] [ 4.49220602e-01 8.90511776e-01 -7.20390705e-02 5.20297004e+01] [ 1.61382290e-01 -1.57388117e-03 9.86890713e-01 2.96498392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08863999999994 meters Centerline goodness : 0.996520 with order 1 Centerline is valid? [True, True] Translation: X:282.19, Y:52.05, Z:29.66 [[ 8.76467852e-01 -4.59291953e-01 -1.44412623e-01 2.82192524e+02] [ 4.53610987e-01 8.88282251e-01 -7.20535545e-02 5.20517495e+01] [ 1.61372787e-01 -2.35452815e-03 9.86890713e-01 2.96566189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14863999999994 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:282.25, Y:52.07, Z:29.65 [[ 8.76082778e-01 -4.60036253e-01 -1.44380097e-01 2.82248647e+02] [ 4.54354594e-01 8.87896841e-01 -7.21186704e-02 5.20748828e+01] [ 1.61371835e-01 -2.41783532e-03 9.86890716e-01 2.96513112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20863999999995 meters Centerline goodness : 0.994601 with order 1 Centerline is valid? [True, True] Translation: X:282.30, Y:52.09, Z:29.68 [[ 8.75182932e-01 -4.61748704e-01 -1.44370943e-01 2.82299161e+02] [ 4.56087140e-01 8.87006638e-01 -7.21369913e-02 5.20939790e+01] [ 1.61367147e-01 -2.71266685e-03 9.86890716e-01 2.96814867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26863999999995 meters Centerline goodness : 0.994606 with order 1 Centerline is valid? [True, True] Translation: X:282.35, Y:52.11, Z:29.69 [[ 8.75728692e-01 -4.60724609e-01 -1.44333271e-01 2.82354972e+02] [ 4.55036809e-01 8.87539795e-01 -7.22122898e-02 5.21119350e+01] [ 1.61371500e-01 -2.43857681e-03 9.86890719e-01 2.96896210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32863999999995 meters Centerline goodness : 0.998969 with order 1 Centerline is valid? [True, True] Translation: X:282.41, Y:52.13, Z:29.68 [[ 8.78419472e-01 -4.55584080e-01 -1.44299610e-01 2.82411349e+02] [ 4.49816113e-01 8.90191631e-01 -7.22794914e-02 5.21346277e+01] [ 1.61383691e-01 -1.41657696e-03 9.86890722e-01 2.96799832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38863999999995 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:282.46, Y:52.16, Z:29.69 [[ 8.79647646e-01 -4.53220220e-01 -1.44261745e-01 2.82464630e+02] [ 4.47408234e-01 8.91398131e-01 -7.23549881e-02 5.21561013e+01] [ 1.61387393e-01 -8.96997535e-04 9.86890726e-01 2.96905834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44863999999995 meters Centerline goodness : 0.998921 with order 1 Centerline is valid? [True, True] Translation: X:282.52, Y:52.18, Z:29.70 [[ 8.82076352e-01 -4.48487490e-01 -1.44223023e-01 2.82517056e+02] [ 4.42599846e-01 8.93789107e-01 -7.24320899e-02 5.21784078e+01] [ 1.61389853e-01 5.75456903e-05 9.86890729e-01 2.97025560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50863999999996 meters Centerline goodness : 0.991311 with order 1 Centerline is valid? [True, True] Translation: X:282.57, Y:52.20, Z:29.74 [[ 8.80872207e-01 -4.50860412e-01 -1.44184064e-01 2.82567172e+02] [ 4.44991638e-01 8.92594424e-01 -7.25095612e-02 5.21990796e+01] [ 1.61389582e-01 -2.89045728e-04 9.86890733e-01 2.97353376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56863999999996 meters Centerline goodness : 0.994601 with order 1 Centerline is valid? [True, True] Translation: X:282.62, Y:52.22, Z:29.74 [[ 8.80489474e-01 -4.51610495e-01 -1.44174366e-01 2.82620934e+02] [ 4.45748550e-01 8.92215107e-01 -7.25288400e-02 5.22234650e+01] [ 1.61389332e-01 -4.04634217e-04 9.86890733e-01 2.97396724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62863999999996 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:282.68, Y:52.25, Z:29.73 [[ 8.81553258e-01 -4.49541408e-01 -1.44140128e-01 2.82676965e+02] [ 4.43640826e-01 8.93259492e-01 -7.25968198e-02 5.22480420e+01] [ 1.61389814e-01 5.15177441e-05 9.86890736e-01 2.97291332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68863999999996 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:282.73, Y:52.27, Z:29.74 [[ 8.83082131e-01 -4.46541695e-01 -1.44105742e-01 2.82728651e+02] [ 4.40590218e-01 8.94762569e-01 -7.26650139e-02 5.22737159e+01] [ 1.61388382e-01 6.77595172e-04 9.86890739e-01 2.97391070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74863999999997 meters Centerline goodness : 0.995099 with order 1 Centerline is valid? [True, True] Translation: X:282.78, Y:52.30, Z:29.77 [[ 8.85202962e-01 -4.42333734e-01 -1.44071454e-01 2.82776297e+02] [ 4.36315679e-01 8.96849234e-01 -7.27329329e-02 5.23003693e+01] [ 1.61382603e-01 1.52277341e-03 9.86890742e-01 2.97693998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80863999999997 meters Centerline goodness : 0.994707 with order 1 Centerline is valid? [True, True] Translation: X:282.83, Y:52.33, Z:29.78 [[ 8.87021193e-01 -4.38679459e-01 -1.44061567e-01 2.82826728e+02] [ 4.32610248e-01 8.98640888e-01 -7.27525113e-02 5.23307213e+01] [ 1.61374647e-01 2.21050939e-03 9.86890742e-01 2.97773051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86863999999997 meters Centerline goodness : 0.999460 with order 1 Centerline is valid? [True, True] Translation: X:282.88, Y:52.36, Z:29.77 [[ 8.87397300e-01 -4.37929681e-01 -1.44026480e-01 2.82880162e+02] [ 4.31839390e-01 8.99005957e-01 -7.28219059e-02 5.23607852e+01] [ 1.61371538e-01 2.42565523e-03 9.86890745e-01 2.97682625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92864 meters Centerline goodness : 0.996030 with order 1 Centerline is valid? [True, True] Translation: X:282.93, Y:52.39, Z:29.79 [[ 8.86633865e-01 -4.39484816e-01 -1.43991269e-01 2.82926994e+02] [ 4.33403593e-01 8.98247271e-01 -7.28914640e-02 5.23890050e+01] [ 1.61374456e-01 2.22170708e-03 9.86890748e-01 2.97941261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98864 meters Centerline goodness : 0.995980 with order 1 Centerline is valid? [True, True] Translation: X:282.98, Y:52.42, Z:29.80 [[ 8.86853097e-01 -4.39055273e-01 -1.43951560e-01 2.82976200e+02] [ 4.32955710e-01 8.98456878e-01 -7.29698021e-02 5.24205606e+01] [ 1.61372045e-01 2.38884514e-03 9.86890752e-01 2.98030690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04864 meters Centerline goodness : 0.995340 with order 1 Centerline is valid? [True, True] Translation: X:283.03, Y:52.45, Z:29.81 [[ 8.87713607e-01 -4.37324475e-01 -1.43916138e-01 2.83025536e+02] [ 4.31190977e-01 8.99299482e-01 -7.30395970e-02 5.24502851e+01] [ 1.61365712e-01 2.78290382e-03 9.86890755e-01 2.98147357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10864 meters Centerline goodness : 0.994007 with order 1 Centerline is valid? [True, True] Translation: X:283.07, Y:52.48, Z:29.83 [[ 8.87756511e-01 -4.37248998e-01 -1.43880822e-01 2.83074923e+02] [ 4.31103253e-01 8.99335891e-01 -7.31091017e-02 5.24793859e+01] [ 1.61364069e-01 2.87559060e-03 9.86890758e-01 2.98258044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16864 meters Centerline goodness : 0.994803 with order 1 Centerline is valid? [True, True] Translation: X:283.12, Y:52.51, Z:29.83 [[ 8.87608002e-01 -4.37563745e-01 -1.43840201e-01 2.83124392e+02] [ 4.31409171e-01 8.99182688e-01 -7.31889368e-02 5.25109574e+01] [ 1.61363444e-01 2.90910414e-03 9.86890762e-01 2.98345408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:283.18, Y:52.54, Z:29.82 [[ 8.88997740e-01 -4.34745151e-01 -1.43804282e-01 2.83176332e+02] [ 4.28542482e-01 9.00546720e-01 -7.32594445e-02 5.25444157e+01] [ 1.61351663e-01 3.50123670e-03 9.86890765e-01 2.98229638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28864 meters Centerline goodness : 0.993378 with order 1 Centerline is valid? [True, True] Translation: X:283.22, Y:52.57, Z:29.85 [[ 8.87591722e-01 -4.37620093e-01 -1.43769225e-01 2.83222792e+02] [ 4.31443704e-01 8.99154774e-01 -7.33281801e-02 5.25720285e+01] [ 1.61360670e-01 3.05715872e-03 9.86890768e-01 2.98543577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34864 meters Centerline goodness : 0.992699 with order 1 Centerline is valid? [True, True] Translation: X:283.27, Y:52.60, Z:29.86 [[ 8.84861609e-01 -4.43127354e-01 -1.43729194e-01 2.83273974e+02] [ 4.37010209e-01 8.96456108e-01 -7.34065614e-02 5.25990336e+01] [ 1.61375369e-01 2.14352295e-03 9.86890772e-01 2.98619215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40864 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:283.33, Y:52.63, Z:29.85 [[ 8.81679608e-01 -4.49436614e-01 -1.43693421e-01 2.83328862e+02] [ 4.43391042e-01 8.93311583e-01 -7.34765216e-02 5.26263340e+01] [ 1.61386036e-01 1.07037520e-03 9.86890775e-01 2.98516893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46864 meters Centerline goodness : 0.993874 with order 1 Centerline is valid? [True, True] Translation: X:283.38, Y:52.65, Z:29.88 [[ 8.75681522e-01 -4.61025223e-01 -1.43657986e-01 2.83378719e+02] [ 4.55122224e-01 8.87386491e-01 -7.35457386e-02 5.26490779e+01] [ 1.61386596e-01 -9.79297687e-04 9.86890778e-01 2.98801306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52863999999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:283.44, Y:52.67, Z:29.87 [[ 8.71455281e-01 -4.68975636e-01 -1.43622927e-01 2.83435644e+02] [ 4.63168137e-01 8.83207923e-01 -7.36141408e-02 5.26723106e+01] [ 1.61372145e-01 -2.37013161e-03 9.86890781e-01 2.98687974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:283.49, Y:52.69, Z:29.88 [[ 8.69363471e-01 -4.72852500e-01 -1.43588541e-01 2.83488925e+02] [ 4.67086341e-01 8.81136447e-01 -7.36811515e-02 5.26945244e+01] [ 1.61361414e-01 -3.01254474e-03 9.86890784e-01 2.98796255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64863999999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:283.54, Y:52.72, Z:29.89 [[ 8.69387945e-01 -4.72817542e-01 -1.43555469e-01 2.83542926e+02] [ 4.67040283e-01 8.81155475e-01 -7.37455311e-02 5.27165879e+01] [ 1.61362869e-01 -2.93271127e-03 9.86890786e-01 2.98896023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70863999999995 meters Centerline goodness : 0.996067 with order 1 Centerline is valid? [True, True] Translation: X:283.59, Y:52.74, Z:29.92 [[ 8.69814734e-01 -4.72042108e-01 -1.43522046e-01 2.83594534e+02] [ 4.66243636e-01 8.81571823e-01 -7.38105236e-02 5.27358453e+01] [ 1.61366666e-01 -2.71475933e-03 9.86890789e-01 2.99186426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76863999999995 meters Centerline goodness : 0.994747 with order 1 Centerline is valid? [True, True] Translation: X:283.65, Y:52.75, Z:29.93 [[ 8.72633717e-01 -4.66820586e-01 -1.43488456e-01 2.83649022e+02] [ 4.60941027e-01 8.84350463e-01 -7.38757653e-02 5.27549031e+01] [ 1.61380810e-01 -1.67323270e-03 9.86890791e-01 2.99289153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82863999999995 meters Centerline goodness : 0.994561 with order 1 Centerline is valid? [True, True] Translation: X:283.70, Y:52.78, Z:29.94 [[ 8.77044288e-01 -4.58493029e-01 -1.43448454e-01 2.83701722e+02] [ 4.52489514e-01 8.88698003e-01 -7.39533589e-02 5.27799532e+01] [ 1.61389454e-01 -4.85502738e-05 9.86890795e-01 2.99395979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88863999999995 meters Centerline goodness : 0.991472 with order 1 Centerline is valid? [True, True] Translation: X:283.75, Y:52.81, Z:29.95 [[ 8.83339997e-01 -4.46253504e-01 -1.43416386e-01 2.83750505e+02] [ 4.40078439e-01 8.94903723e-01 -7.40154960e-02 5.28104217e+01] [ 1.61373533e-01 2.26638857e-03 9.86890798e-01 2.99510977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94863999999995 meters Centerline goodness : 0.981918 with order 1 Centerline is valid? [True, True] Translation: X:283.80, Y:52.84, Z:29.97 [[ 8.86515366e-01 -4.39922975e-01 -1.43381595e-01 2.83798875e+02] [ 4.33654460e-01 8.98028699e-01 -7.40828326e-02 5.28416699e+01] [ 1.61351527e-01 3.49750124e-03 9.86890800e-01 2.99702511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00863999999996 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:283.85, Y:52.88, Z:29.95 [[ 8.87306924e-01 -4.38325896e-01 -1.43376536e-01 2.83852861e+02] [ 4.32035078e-01 8.98808086e-01 -7.40926228e-02 5.28759917e+01] [ 1.61344705e-01 3.79920443e-03 9.86890801e-01 2.99543951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06863999999996 meters Centerline goodness : 0.992097 with order 1 Centerline is valid? [True, True] Translation: X:283.90, Y:52.90, Z:29.98 [[ 8.82980520e-01 -4.46977940e-01 -1.43374061e-01 2.83900503e+02] [ 4.40799063e-01 8.94542207e-01 -7.40974115e-02 5.29037743e+01] [ 1.61374057e-01 2.22741915e-03 9.86890801e-01 2.99805199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:283.95, Y:52.94, Z:29.97 [[ 8.82173422e-01 -4.48580082e-01 -1.43338633e-01 2.83953478e+02] [ 4.42411078e-01 8.93740376e-01 -7.41658829e-02 5.29355467e+01] [ 1.61376862e-01 2.01257132e-03 9.86890803e-01 2.99714007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:284.00, Y:52.96, Z:29.98 [[ 8.80112407e-01 -4.52612006e-01 -1.43333611e-01 2.84003686e+02] [ 4.46494414e-01 8.91706634e-01 -7.41755875e-02 5.29641980e+01] [ 1.61384293e-01 1.28519806e-03 9.86890804e-01 2.99796052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24863999999997 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:284.05, Y:52.99, Z:29.99 [[ 8.79685879e-01 -4.53444383e-01 -1.43321125e-01 2.84053467e+02] [ 4.47333833e-01 8.91283819e-01 -7.41997056e-02 5.29943193e+01] [ 1.61385239e-01 1.16004513e-03 9.86890804e-01 2.99886365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30863999999997 meters Centerline goodness : 0.995965 with order 1 Centerline is valid? [True, True] Translation: X:284.10, Y:53.02, Z:30.01 [[ 8.77992349e-01 -4.56725832e-01 -1.43286247e-01 2.84102818e+02] [ 4.50647646e-01 8.89607280e-01 -7.42669974e-02 5.30211368e+01] [ 1.61388145e-01 6.34245450e-04 9.86890807e-01 3.00138118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36863999999997 meters Centerline goodness : 0.994018 with order 1 Centerline is valid? [True, True] Translation: X:284.15, Y:53.05, Z:30.02 [[ 8.75370332e-01 -4.61732890e-01 -1.43281264e-01 2.84153745e+02] [ 4.55719566e-01 8.87018975e-01 -7.42766097e-02 5.30486761e+01] [ 1.61389154e-01 -2.76535147e-04 9.86890807e-01 3.00242996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:284.21, Y:53.07, Z:30.02 [[ 8.74624624e-01 -4.63155060e-01 -1.43245099e-01 2.84210778e+02] [ 4.57149264e-01 8.86277146e-01 -7.43462912e-02 5.30744332e+01] [ 1.61388719e-01 -4.59294551e-04 9.86890810e-01 3.00156988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:284.26, Y:53.10, Z:30.02 [[ 8.72865254e-01 -4.66463076e-01 -1.43242619e-01 2.84263398e+02] [ 4.60500655e-01 8.84540030e-01 -7.43510696e-02 5.30987725e+01] [ 1.61385859e-01 -1.06485467e-03 9.86890810e-01 3.00247038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54864 meters Centerline goodness : 0.997251 with order 1 Centerline is valid? [True, True] Translation: X:284.32, Y:53.12, Z:30.05 [[ 8.70546490e-01 -4.70786811e-01 -1.43208193e-01 2.84315210e+02] [ 4.64871474e-01 8.82245190e-01 -7.44173194e-02 5.31198973e+01] [ 1.61379432e-01 -1.78966761e-03 9.86890813e-01 3.00510881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60864 meters Centerline goodness : 0.995227 with order 1 Centerline is valid? [True, True] Translation: X:284.37, Y:53.15, Z:30.06 [[ 8.69922619e-01 -4.71941764e-01 -1.43197797e-01 2.84367854e+02] [ 4.66038666e-01 8.81627499e-01 -7.44373197e-02 5.31450469e+01] [ 1.61377195e-01 -1.98100200e-03 9.86890813e-01 3.00616242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66864 meters Centerline goodness : 0.997644 with order 1 Centerline is valid? [True, True] Translation: X:284.42, Y:53.17, Z:30.07 [[ 8.70059552e-01 -4.71699064e-01 -1.43165532e-01 2.84423385e+02] [ 4.65782499e-01 8.81757628e-01 -7.44993241e-02 5.31656161e+01] [ 1.61378561e-01 -1.86515063e-03 9.86890815e-01 3.00650245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:284.48, Y:53.19, Z:30.06 [[ 8.71899296e-01 -4.68300401e-01 -1.43130543e-01 2.84478561e+02] [ 4.62327208e-01 8.83568555e-01 -7.45664866e-02 5.31924394e+01] [ 1.61385162e-01 -1.15867704e-03 9.86890818e-01 3.00588552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78864 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:284.53, Y:53.21, Z:30.07 [[ 8.71200244e-01 -4.69601139e-01 -1.43125484e-01 2.84533749e+02] [ 4.63643774e-01 8.82877592e-01 -7.45761942e-02 5.32128967e+01] [ 1.61383349e-01 -1.38844106e-03 9.86890818e-01 3.00674739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84864 meters Centerline goodness : 0.999509 with order 1 Centerline is valid? [True, True] Translation: X:284.59, Y:53.24, Z:30.08 [[ 8.69808192e-01 -4.72185133e-01 -1.43090562e-01 2.84586586e+02] [ 4.66251444e-01 8.81497585e-01 -7.46431408e-02 5.32367581e+01] [ 1.61379366e-01 -1.79096593e-03 9.86890821e-01 3.00775166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90864 meters Centerline goodness : 0.998383 with order 1 Centerline is valid? [True, True] Translation: X:284.64, Y:53.26, Z:30.09 [[ 8.67828767e-01 -4.75823710e-01 -1.43056030e-01 2.84640591e+02] [ 4.69928129e-01 8.79537423e-01 -7.47092658e-02 5.32581407e+01] [ 1.61371572e-01 -2.39120247e-03 9.86890824e-01 3.00862012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96864 meters Centerline goodness : 0.998579 with order 1 Centerline is valid? [True, True] Translation: X:284.69, Y:53.28, Z:30.10 [[ 8.67901951e-01 -4.75700458e-01 -1.43021948e-01 2.84692793e+02] [ 4.69792473e-01 8.79604350e-01 -7.47744549e-02 5.32825090e+01] [ 1.61372970e-01 -2.29373943e-03 9.86890826e-01 3.00975923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02863999999994 meters Centerline goodness : 0.998920 with order 1 Centerline is valid? [True, True] Translation: X:284.74, Y:53.31, Z:30.11 [[ 8.69111732e-01 -4.73496924e-01 -1.42987626e-01 2.84744857e+02] [ 4.67548479e-01 8.80793614e-01 -7.48400315e-02 5.33088442e+01] [ 1.61379112e-01 -1.80929757e-03 9.86890829e-01 3.01080735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08863999999994 meters Centerline goodness : 0.998578 with order 1 Centerline is valid? [True, True] Translation: X:284.80, Y:53.33, Z:30.12 [[ 8.68391652e-01 -4.74825879e-01 -1.42955669e-01 2.84796465e+02] [ 4.68885271e-01 8.80077519e-01 -7.49010257e-02 5.33343325e+01] [ 1.61377015e-01 -1.98638196e-03 9.86890831e-01 3.01187997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14863999999994 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:284.85, Y:53.36, Z:30.13 [[ 8.66810093e-01 -4.77717306e-01 -1.42921089e-01 2.84849385e+02] [ 4.71804808e-01 8.78510204e-01 -7.49669513e-02 5.33590824e+01] [ 1.61370645e-01 -2.44874691e-03 9.86890834e-01 3.01275138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20863999999995 meters Centerline goodness : 0.997748 with order 1 Centerline is valid? [True, True] Translation: X:284.90, Y:53.38, Z:30.14 [[ 8.64851373e-01 -4.81264485e-01 -1.42886664e-01 2.84901419e+02] [ 4.75389143e-01 8.76570183e-01 -7.50325084e-02 5.33847367e+01] [ 1.61360671e-01 -3.03480089e-03 9.86890837e-01 3.01396249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26863999999995 meters Centerline goodness : 0.991173 with order 1 Centerline is valid? [True, True] Translation: X:284.95, Y:53.41, Z:30.17 [[ 8.63155691e-01 -4.84309209e-01 -1.42852519e-01 2.84951879e+02] [ 4.78464456e-01 8.74889785e-01 -7.50974609e-02 5.34073508e+01] [ 1.61350602e-01 -3.52905210e-03 9.86890840e-01 3.01663573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32863999999995 meters Centerline goodness : 0.998529 with order 1 Centerline is valid? [True, True] Translation: X:285.01, Y:53.43, Z:30.16 [[ 8.62475467e-01 -4.85529634e-01 -1.42818218e-01 2.85007017e+02] [ 4.79690698e-01 8.74212453e-01 -7.51626378e-02 5.34332980e+01] [ 1.61347153e-01 -3.68263961e-03 9.86890842e-01 3.01570326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38863999999995 meters Centerline goodness : 0.994120 with order 1 Centerline is valid? [True, True] Translation: X:285.06, Y:53.46, Z:30.18 [[ 8.61854224e-01 -4.86634369e-01 -1.42808571e-01 2.85057799e+02] [ 4.80807442e-01 8.73597177e-01 -7.51809628e-02 5.34580145e+01] [ 1.61342805e-01 -3.86839339e-03 9.86890842e-01 3.01792684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44863999999995 meters Centerline goodness : 0.993239 with order 1 Centerline is valid? [True, True] Translation: X:285.11, Y:53.48, Z:30.19 [[ 8.60179021e-01 -4.89591466e-01 -1.42801432e-01 2.85111168e+02] [ 4.83802655e-01 8.71940810e-01 -7.51945204e-02 5.34807433e+01] [ 1.61328992e-01 -4.40696301e-03 9.86890843e-01 3.01906979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50863999999996 meters Centerline goodness : 0.997550 with order 1 Centerline is valid? [True, True] Translation: X:285.16, Y:53.51, Z:30.19 [[ 8.58859433e-01 -4.91912472e-01 -1.42767628e-01 2.85164971e+02] [ 4.86144793e-01 8.70631596e-01 -7.52586492e-02 5.35070938e+01] [ 1.61318676e-01 -4.76913817e-03 9.86890845e-01 3.01877450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56863999999996 meters Centerline goodness : 0.997451 with order 1 Centerline is valid? [True, True] Translation: X:285.22, Y:53.53, Z:30.20 [[ 8.55424042e-01 -4.97865275e-01 -1.42758107e-01 2.85221030e+02] [ 4.92176484e-01 8.67234528e-01 -7.52767056e-02 5.35254343e+01] [ 1.61282417e-01 -5.86867909e-03 9.86890845e-01 3.01976977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62863999999996 meters Centerline goodness : 0.998627 with order 1 Centerline is valid? [True, True] Translation: X:285.27, Y:53.55, Z:30.21 [[ 8.54803727e-01 -4.98939147e-01 -1.42724616e-01 2.85274388e+02] [ 4.93254616e-01 8.66616262e-01 -7.53401504e-02 5.35485720e+01] [ 1.61277624e-01 -5.99853451e-03 9.86890848e-01 3.02058147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68863999999996 meters Centerline goodness : 0.997843 with order 1 Centerline is valid? [True, True] Translation: X:285.33, Y:53.57, Z:30.22 [[ 8.55174266e-01 -4.98313201e-01 -1.42691728e-01 2.85329349e+02] [ 4.92609655e-01 8.66977628e-01 -7.54023885e-02 5.35694759e+01] [ 1.61284542e-01 -5.80914082e-03 9.86890850e-01 3.02158036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74863999999997 meters Centerline goodness : 0.997745 with order 1 Centerline is valid? [True, True] Translation: X:285.38, Y:53.59, Z:30.23 [[ 8.56204604e-01 -4.96550268e-01 -1.42658710e-01 2.85384043e+02] [ 4.90812030e-01 8.67991137e-01 -7.54648074e-02 5.35898485e+01] [ 1.61298566e-01 -5.40529554e-03 9.86890853e-01 3.02268942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80863999999997 meters Centerline goodness : 0.994019 with order 1 Centerline is valid? [True, True] Translation: X:285.44, Y:53.61, Z:30.25 [[ 8.56464043e-01 -4.96112257e-01 -1.42625283e-01 2.85435917e+02] [ 4.90357492e-01 8.68242513e-01 -7.55279307e-02 5.36116155e+01] [ 1.61303667e-01 -5.25041918e-03 9.86890855e-01 3.02477579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86863999999997 meters Centerline goodness : 0.994706 with order 1 Centerline is valid? [True, True] Translation: X:285.49, Y:53.63, Z:30.26 [[ 8.57938435e-01 -4.93567948e-01 -1.42591452e-01 2.85489306e+02] [ 4.87767651e-01 8.69694547e-01 -7.55917494e-02 5.36346243e+01] [ 1.61320673e-01 -4.69843024e-03 9.86890858e-01 3.02583432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92864 meters Centerline goodness : 0.998284 with order 1 Centerline is valid? [True, True] Translation: X:285.54, Y:53.66, Z:30.26 [[ 8.60730604e-01 -4.88692190e-01 -1.42557955e-01 2.85543035e+02] [ 4.82814837e-01 8.72448379e-01 -7.56548678e-02 5.36619781e+01] [ 1.61346400e-01 -3.71063595e-03 9.86890860e-01 3.02553627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98864 meters Centerline goodness : 0.995195 with order 1 Centerline is valid? [True, True] Translation: X:285.59, Y:53.68, Z:30.28 [[ 8.62690273e-01 -4.85227238e-01 -1.42548308e-01 2.85593937e+02] [ 4.79299813e-01 8.74382799e-01 -7.56730411e-02 5.36833246e+01] [ 1.61360409e-01 -3.04098090e-03 9.86890861e-01 3.02806194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04864 meters Centerline goodness : 0.998431 with order 1 Centerline is valid? [True, True] Translation: X:285.65, Y:53.71, Z:30.28 [[ 8.65113919e-01 -4.80896475e-01 -1.42535916e-01 2.85646099e+02] [ 4.74906666e-01 8.76774610e-01 -7.56963757e-02 5.37130689e+01] [ 1.61373992e-01 -2.20526836e-03 9.86890861e-01 3.02751496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10864 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:285.70, Y:53.74, Z:30.28 [[ 8.65970258e-01 -4.79358305e-01 -1.42517113e-01 2.85698615e+02] [ 4.73341960e-01 8.77617280e-01 -7.57317606e-02 5.37393045e+01] [ 1.61378129e-01 -1.87787720e-03 9.86890862e-01 3.02839510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16864 meters Centerline goodness : 0.996370 with order 1 Centerline is valid? [True, True] Translation: X:285.75, Y:53.76, Z:30.31 [[ 8.65277478e-01 -4.80617462e-01 -1.42484179e-01 2.85748470e+02] [ 4.74607872e-01 8.76927983e-01 -7.57936735e-02 5.37643802e+01] [ 1.61376127e-01 -2.04155440e-03 9.86890864e-01 3.03105236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22864 meters Centerline goodness : 0.996452 with order 1 Centerline is valid? [True, True] Translation: X:285.80, Y:53.79, Z:30.32 [[ 8.64149401e-01 -4.82652694e-01 -1.42450653e-01 2.85800872e+02] [ 4.76660165e-01 8.75808688e-01 -7.58566334e-02 5.37886787e+01] [ 1.61371928e-01 -2.34908721e-03 9.86890867e-01 3.03200413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28864 meters Centerline goodness : 0.996698 with order 1 Centerline is valid? [True, True] Translation: X:285.85, Y:53.82, Z:30.33 [[ 8.64051193e-01 -4.82838960e-01 -1.42415146e-01 2.85852478e+02] [ 4.76837968e-01 8.75706123e-01 -7.59232363e-02 5.38162101e+01] [ 1.61372512e-01 -2.30738606e-03 9.86890869e-01 3.03272986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34864 meters Centerline goodness : 0.991959 with order 1 Centerline is valid? [True, True] Translation: X:285.90, Y:53.84, Z:30.35 [[ 8.63737562e-01 -4.83409505e-01 -1.42382142e-01 2.85904021e+02] [ 4.77406018e-01 8.75391205e-01 -7.59850807e-02 5.38409510e+01] [ 1.61371985e-01 -2.34292323e-03 9.86890872e-01 3.03473187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:285.96, Y:53.87, Z:30.33 [[ 8.65183306e-01 -4.80818268e-01 -1.42378510e-01 2.85960614e+02] [ 4.74778757e-01 8.76818320e-01 -7.59918865e-02 5.38698900e+01] [ 1.61378373e-01 -1.85138031e-03 9.86890872e-01 3.03333520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:286.01, Y:53.89, Z:30.34 [[ 8.64802822e-01 -4.81503407e-01 -1.42374676e-01 2.86012145e+02] [ 4.75471931e-01 8.76442003e-01 -7.59990694e-02 5.38936939e+01] [ 1.61376957e-01 -1.97095227e-03 9.86890872e-01 3.03432762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52863999999994 meters Centerline goodness : 0.992057 with order 1 Centerline is valid? [True, True] Translation: X:286.06, Y:53.91, Z:30.38 [[ 8.64501328e-01 -4.82056560e-01 -1.42333857e-01 2.86063207e+02] [ 4.76019958e-01 8.76137847e-01 -7.60754406e-02 5.39148617e+01] [ 1.61376744e-01 -1.98643720e-03 9.86890876e-01 3.03755565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58863999999994 meters Centerline goodness : 0.994708 with order 1 Centerline is valid? [True, True] Translation: X:286.12, Y:53.94, Z:30.38 [[ 8.65020556e-01 -4.81125734e-01 -1.42328727e-01 2.86116698e+02] [ 4.75075031e-01 8.76649749e-01 -7.60850375e-02 5.39396983e+01] [ 1.61378912e-01 -1.80170282e-03 9.86890876e-01 3.03826507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64863999999994 meters Centerline goodness : 0.991817 with order 1 Centerline is valid? [True, True] Translation: X:286.17, Y:53.96, Z:30.39 [[ 8.68496935e-01 -4.74824030e-01 -1.42320815e-01 2.86169458e+02] [ 4.68686514e-01 8.80080545e-01 -7.60998339e-02 5.39640782e+01] [ 1.61387810e-01 -6.11374278e-04 9.86890876e-01 3.03942043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70863999999995 meters Centerline goodness : 0.991130 with order 1 Centerline is valid? [True, True] Translation: X:286.22, Y:53.99, Z:30.40 [[ 8.70832441e-01 -4.70530165e-01 -1.42310309e-01 2.86221685e+02] [ 4.64332322e-01 8.82383885e-01 -7.61194763e-02 5.39903011e+01] [ 1.61388833e-01 2.08033275e-04 9.86890876e-01 3.04030012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76863999999995 meters Centerline goodness : 0.990922 with order 1 Centerline is valid? [True, True] Translation: X:286.27, Y:54.02, Z:30.41 [[ 8.73920891e-01 -4.64779164e-01 -1.42276511e-01 2.86273611e+02] [ 4.58495028e-01 8.85425616e-01 -7.61825960e-02 5.40155277e+01] [ 1.61383351e-01 1.34448904e-03 9.86890879e-01 3.04124597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82863999999995 meters Centerline goodness : 0.988816 with order 1 Centerline is valid? [True, True] Translation: X:286.32, Y:54.04, Z:30.42 [[ 8.77216236e-01 -4.58542475e-01 -1.42233868e-01 2.86324644e+02] [ 4.52163657e-01 8.88668731e-01 -7.62621311e-02 5.40435658e+01] [ 1.61368217e-01 2.58539385e-03 9.86890883e-01 3.04247841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88863999999995 meters Centerline goodness : 0.992206 with order 1 Centerline is valid? [True, True] Translation: X:286.37, Y:54.08, Z:30.43 [[ 8.79992333e-01 -4.53202766e-01 -1.42199668e-01 2.86373740e+02] [ 4.46744174e-01 8.91400027e-01 -7.63258472e-02 5.40753011e+01] [ 1.61347873e-01 3.63928699e-03 9.86890885e-01 3.04333539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94863999999995 meters Centerline goodness : 0.990783 with order 1 Centerline is valid? [True, True] Translation: X:286.42, Y:54.11, Z:30.44 [[ 8.83832054e-01 -4.45679764e-01 -1.42163456e-01 2.86420662e+02] [ 4.39113269e-01 8.95177977e-01 -7.63932371e-02 5.41103110e+01] [ 1.61308515e-01 5.09293170e-03 9.86890888e-01 3.04425378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00863999999996 meters Centerline goodness : 0.991855 with order 1 Centerline is valid? [True, True] Translation: X:286.47, Y:54.14, Z:30.45 [[ 8.84796122e-01 -4.43774151e-01 -1.42127849e-01 2.86468796e+02] [ 4.37172604e-01 8.96121683e-01 -7.64594273e-02 5.41427627e+01] [ 1.61294564e-01 5.51660300e-03 9.86890891e-01 3.04505448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06863999999996 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:286.52, Y:54.18, Z:30.44 [[ 8.81529361e-01 -4.50241182e-01 -1.42087525e-01 2.86520869e+02] [ 4.43710687e-01 8.92896035e-01 -7.65342903e-02 5.41754869e+01] [ 1.61328277e-01 4.42147069e-03 9.86890894e-01 3.04408230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12863999999996 meters Centerline goodness : 0.994058 with order 1 Centerline is valid? [True, True] Translation: X:286.57, Y:54.20, Z:30.47 [[ 8.76576646e-01 -4.59811570e-01 -1.42079924e-01 2.86569023e+02] [ 4.53402923e-01 8.88012462e-01 -7.65483981e-02 5.42026324e+01] [ 1.61366582e-01 2.68108510e-03 9.86890895e-01 3.04694158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18863999999996 meters Centerline goodness : 0.994116 with order 1 Centerline is valid? [True, True] Translation: X:286.62, Y:54.23, Z:30.48 [[ 8.74958348e-01 -4.62893762e-01 -1.42046662e-01 2.86619062e+02] [ 4.56515391e-01 8.86411076e-01 -7.66100729e-02 5.42311938e+01] [ 1.61374059e-01 2.18413560e-03 9.86890897e-01 3.04806973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24863999999997 meters Centerline goodness : 0.996328 with order 1 Centerline is valid? [True, True] Translation: X:286.67, Y:54.26, Z:30.49 [[ 8.75092922e-01 -4.62650615e-01 -1.42009813e-01 2.86671139e+02] [ 4.56257988e-01 8.86537695e-01 -7.66783187e-02 5.42588201e+01] [ 1.61372323e-01 2.30754248e-03 9.86890900e-01 3.04877841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:286.72, Y:54.28, Z:30.48 [[ 8.75832690e-01 -4.61251065e-01 -1.42001950e-01 2.86724925e+02] [ 4.54837790e-01 8.87265906e-01 -7.66928771e-02 5.42849330e+01] [ 1.61368160e-01 2.58227568e-03 9.86890900e-01 3.04788628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36863999999997 meters Centerline goodness : 0.993526 with order 1 Centerline is valid? [True, True] Translation: X:286.77, Y:54.31, Z:30.51 [[ 8.76265010e-01 -4.60442163e-01 -1.41960016e-01 2.86772456e+02] [ 4.54005775e-01 8.87685225e-01 -7.67704201e-02 5.43129159e+01] [ 1.61364147e-01 2.82056571e-03 9.86890904e-01 3.05134269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42864 meters Centerline goodness : 0.831414 with order 3 Centerline is valid? [True, False] Translation: X:286.79, Y:54.31, Z:30.52 [[ 8.88110099e-01 -4.35419277e-01 -1.47209052e-01 2.86790827e+02] [ 4.31453858e-01 9.00165374e-01 -5.95807595e-02 5.43135176e+01] [ 1.58455103e-01 -1.05996394e-02 9.87309287e-01 3.05182581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48864 meters Centerline goodness : 0.994510 with order 1 Centerline is valid? [False, True] Translation: X:286.81, Y:54.31, Z:30.52 [[ 8.98821426e-01 -4.11226548e-01 -1.51699607e-01 2.86810168e+02] [ 4.09610588e-01 9.11235739e-01 -4.32272355e-02 5.43127670e+01] [ 1.56010290e-01 -2.32841996e-02 9.87480954e-01 3.05219937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54864 meters Centerline goodness : 0.994854 with order 1 Centerline is valid? [True, True] Translation: X:286.85, Y:54.36, Z:30.53 [[ 8.98017389e-01 -4.16960253e-01 -1.40388448e-01 2.86850894e+02] [ 4.11542755e-01 9.08921481e-01 -6.70395595e-02 5.43610027e+01] [ 1.55554907e-01 2.42684168e-03 9.87824266e-01 3.05290782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60864 meters Centerline goodness : 0.996075 with order 1 Centerline is valid? [True, True] Translation: X:286.90, Y:54.39, Z:30.54 [[ 8.97834440e-01 -4.17366593e-01 -1.40351149e-01 2.86901227e+02] [ 4.11941840e-01 9.08734919e-01 -6.71175566e-02 5.43897089e+01] [ 1.55554616e-01 2.44394313e-03 9.87824270e-01 3.05366732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66864 meters Centerline goodness : 0.994350 with order 1 Centerline is valid? [True, True] Translation: X:286.95, Y:54.42, Z:30.55 [[ 8.97490937e-01 -4.18117231e-01 -1.40313931e-01 2.86950423e+02] [ 4.12689447e-01 9.08389903e-01 -6.71952744e-02 5.44199612e+01] [ 1.55555261e-01 2.40107105e-03 9.87824274e-01 3.05492271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72864 meters Centerline goodness : 0.994952 with order 1 Centerline is valid? [True, True] Translation: X:287.00, Y:54.45, Z:30.56 [[ 8.98358761e-01 -4.16260338e-01 -1.40281385e-01 2.87000611e+02] [ 4.10799429e-01 9.09241166e-01 -6.72631528e-02 5.44515578e+01] [ 1.55548593e-01 2.79892975e-03 9.87824277e-01 3.05560599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78864 meters Centerline goodness : 0.994120 with order 1 Centerline is valid? [True, True] Translation: X:287.05, Y:54.48, Z:30.57 [[ 8.98168203e-01 -4.16673691e-01 -1.40274421e-01 2.87049315e+02] [ 4.11215524e-01 9.09051983e-01 -6.72776730e-02 5.44829799e+01] [ 1.55549577e-01 2.74364713e-03 9.87824277e-01 3.05682396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:287.11, Y:54.51, Z:30.55 [[ 8.96513932e-01 -4.20224264e-01 -1.40265238e-01 2.87105278e+02] [ 4.14806210e-01 9.07417736e-01 -6.72968120e-02 5.45109726e+01] [ 1.55558918e-01 2.14963758e-03 9.87824277e-01 3.05549391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90864 meters Centerline goodness : 0.993579 with order 1 Centerline is valid? [True, True] Translation: X:287.16, Y:54.54, Z:30.59 [[ 8.93117323e-01 -4.27396492e-01 -1.40262916e-01 2.87155438e+02] [ 4.22065249e-01 9.04063833e-01 -6.73016516e-02 5.45357601e+01] [ 1.55571119e-01 9.08168339e-04 9.87824277e-01 3.05853264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96864 meters Centerline goodness : 0.989918 with order 1 Centerline is valid? [True, True] Translation: X:287.21, Y:54.56, Z:30.60 [[ 8.90818777e-01 -4.32168653e-01 -1.40257486e-01 2.87207256e+02] [ 4.26894269e-01 9.01792797e-01 -6.73129674e-02 5.45630366e+01] [ 1.55573745e-01 8.85385980e-05 9.87824277e-01 3.05994586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02863999999994 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:287.26, Y:54.59, Z:30.58 [[ 8.89992263e-01 -4.33868811e-01 -1.40255576e-01 2.87264820e+02] [ 4.28614764e-01 9.00976034e-01 -6.73169453e-02 5.45898078e+01] [ 1.55573636e-01 -2.04050208e-04 9.87824277e-01 3.05827712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08863999999994 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:287.32, Y:54.61, Z:30.59 [[ 8.89138969e-01 -4.35615658e-01 -1.40252959e-01 2.87317822e+02] [ 4.30382329e-01 9.00132627e-01 -6.73223979e-02 5.46125764e+01] [ 1.55572955e-01 -5.03427714e-04 9.87824277e-01 3.05922018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14863999999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:287.37, Y:54.64, Z:30.60 [[ 8.89364663e-01 -4.35166627e-01 -1.40215918e-01 2.87370893e+02] [ 4.29915597e-01 9.00349872e-01 -6.73994575e-02 5.46350080e+01] [ 1.55573379e-01 -3.38314566e-04 9.87824281e-01 3.06004498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20863999999995 meters Centerline goodness : 0.995247 with order 1 Centerline is valid? [True, True] Translation: X:287.42, Y:54.66, Z:30.63 [[ 8.89287612e-01 -4.35335937e-01 -1.40179044e-01 2.87421869e+02] [ 4.30074922e-01 9.00268039e-01 -6.74760633e-02 5.46574991e+01] [ 1.55573469e-01 -2.81864364e-04 9.87824284e-01 3.06321780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26863999999995 meters Centerline goodness : 0.993731 with order 1 Centerline is valid? [True, True] Translation: X:287.48, Y:54.68, Z:30.64 [[ 8.88071860e-01 -4.37811441e-01 -1.40176724e-01 2.87475316e+02] [ 4.32580272e-01 8.99066537e-01 -6.74808842e-02 5.46794645e+01] [ 1.55572105e-01 -7.09810855e-04 9.87824284e-01 3.06434082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32863999999995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:287.53, Y:54.70, Z:30.63 [[ 8.87856675e-01 -4.38258261e-01 -1.40143577e-01 2.87534023e+02] [ 4.33021769e-01 8.98848815e-01 -6.75496537e-02 5.47039839e+01] [ 1.55572082e-01 -7.10808789e-04 9.87824287e-01 3.06294507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38863999999995 meters Centerline goodness : 0.990832 with order 1 Centerline is valid? [True, True] Translation: X:287.58, Y:54.73, Z:30.66 [[ 8.85686049e-01 -4.42628488e-01 -1.40143656e-01 2.87584016e+02] [ 4.37446258e-01 8.96703874e-01 -6.75494897e-02 5.47266797e+01] [ 1.55566688e-01 -1.47767714e-03 9.87824287e-01 3.06647493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44863999999995 meters Centerline goodness : 0.990048 with order 1 Centerline is valid? [True, True] Translation: X:287.64, Y:54.75, Z:30.68 [[ 8.82995480e-01 -4.47972970e-01 -1.40139929e-01 2.87637526e+02] [ 4.42856193e-01 8.94043855e-01 -6.75572207e-02 5.47480304e+01] [ 1.55555051e-01 -2.40911497e-03 9.87824287e-01 3.06751363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50863999999996 meters Centerline goodness : 0.987799 with order 1 Centerline is valid? [True, True] Translation: X:287.69, Y:54.77, Z:30.69 [[ 8.82551646e-01 -4.48856999e-01 -1.40107050e-01 2.87690499e+02] [ 4.43740477e-01 8.93600136e-01 -6.76253408e-02 5.47738168e+01] [ 1.55553787e-01 -2.48831339e-03 9.87824290e-01 3.06869810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56863999999996 meters Centerline goodness : 0.981848 with order 1 Centerline is valid? [True, True] Translation: X:287.74, Y:54.80, Z:30.70 [[ 8.85033717e-01 -4.43943667e-01 -1.40104748e-01 2.87743032e+02] [ 4.38765047e-01 8.96053236e-01 -6.76301097e-02 5.48000213e+01] [ 1.55565272e-01 -1.61813905e-03 9.87824290e-01 3.06972996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62863999999996 meters Centerline goodness : 0.980105 with order 1 Centerline is valid? [True, True] Translation: X:287.80, Y:54.82, Z:30.71 [[ 8.84509460e-01 -4.44988765e-01 -1.40100014e-01 2.87796153e+02] [ 4.39821611e-01 8.95534361e-01 -6.76399162e-02 5.48234672e+01] [ 1.55563379e-01 -1.79086798e-03 9.87824290e-01 3.07132484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68863999999996 meters Centerline goodness : 0.984611 with order 1 Centerline is valid? [True, True] Translation: X:287.85, Y:54.85, Z:30.72 [[ 8.84990146e-01 -4.44032764e-01 -1.40097628e-01 2.87851096e+02] [ 4.38852919e-01 8.96009090e-01 -6.76448577e-02 5.48485587e+01] [ 1.55565281e-01 -1.61722032e-03 9.87824290e-01 3.07196035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74863999999997 meters Centerline goodness : 0.990976 with order 1 Centerline is valid? [True, True] Translation: X:287.90, Y:54.88, Z:30.73 [[ 8.86319636e-01 -4.41373038e-01 -1.40097628e-01 2.87904832e+02] [ 4.36160125e-01 8.97322974e-01 -6.76448577e-02 5.48760206e+01] [ 1.55569436e-01 -1.15003311e-03 9.87824290e-01 3.07256349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80863999999997 meters Centerline goodness : 0.991996 with order 1 Centerline is valid? [True, True] Translation: X:287.96, Y:54.90, Z:30.74 [[ 8.86358836e-01 -4.41294764e-01 -1.40096199e-01 2.87957280e+02] [ 4.36080411e-01 8.97361492e-01 -6.76478166e-02 5.48991890e+01] [ 1.55569561e-01 -1.13296805e-03 9.87824290e-01 3.07353049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86863999999997 meters Centerline goodness : 0.991670 with order 1 Centerline is valid? [True, True] Translation: X:288.01, Y:54.92, Z:30.74 [[ 8.86237242e-01 -4.41551192e-01 -1.40057472e-01 2.88009234e+02] [ 4.36327365e-01 8.97235399e-01 -6.77279030e-02 5.49237279e+01] [ 1.55569858e-01 -1.08791773e-03 9.87824294e-01 3.07437188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92864 meters Centerline goodness : 0.992282 with order 1 Centerline is valid? [True, True] Translation: X:288.06, Y:54.95, Z:30.75 [[ 8.87809659e-01 -4.38393262e-01 -1.40019132e-01 2.88061947e+02] [ 4.33117825e-01 8.98783150e-01 -6.78070744e-02 5.49476028e+01] [ 1.55573001e-01 -4.45006471e-04 9.87824298e-01 3.07536520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98864 meters Centerline goodness : 0.987550 with order 1 Centerline is valid? [True, True] Translation: X:288.11, Y:54.97, Z:30.77 [[ 8.90866006e-01 -4.32159493e-01 -1.39985469e-01 2.88113078e+02] [ 4.26796358e-01 9.01796900e-01 -6.78765009e-02 5.49748253e+01] [ 1.55571936e-01 7.23578838e-04 9.87824301e-01 3.07676899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04864 meters Centerline goodness : 0.988539 with order 1 Centerline is valid? [True, True] Translation: X:288.16, Y:55.00, Z:30.78 [[ 8.93717797e-01 -4.26236421e-01 -1.39967897e-01 2.88164760e+02] [ 4.20795174e-01 9.04610018e-01 -6.79127171e-02 5.50006179e+01] [ 1.55563235e-01 1.79698821e-03 9.87824301e-01 3.07766789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10864 meters Centerline goodness : 0.937822 with order 1 Centerline is valid? [True, False] Translation: X:288.16, Y:55.01, Z:30.78 [[ 8.98774764e-01 -4.15624871e-01 -1.39498709e-01 2.88161031e+02] [ 4.08621655e-01 9.09454957e-01 -7.69416981e-02 5.50126686e+01] [ 1.58846676e-01 1.21510631e-02 9.87228487e-01 3.07778438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16864 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [False, True] Translation: X:288.15, Y:55.02, Z:30.78 [[ 9.00964088e-01 -4.10815705e-01 -1.39621518e-01 2.88152855e+02] [ 4.01451894e-01 9.11349868e-01 -9.09823856e-02 5.50246236e+01] [ 1.64621045e-01 2.59205393e-02 9.86016246e-01 3.07811093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:288.21, Y:55.03, Z:30.79 [[ 8.98944921e-01 -4.11639032e-01 -1.49837702e-01 2.88211758e+02] [ 4.05837791e-01 9.11346306e-01 -6.88737853e-02 5.50338592e+01] [ 1.64905175e-01 1.10393732e-03 9.86308808e-01 3.07907234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:288.26, Y:55.06, Z:30.80 [[ 8.95873629e-01 -4.18295102e-01 -1.49798690e-01 2.88262169e+02] [ 4.12571829e-01 9.08311184e-01 -6.89585340e-02 5.50614759e+01] [ 1.64908842e-01 -2.45872502e-05 9.86308812e-01 3.07991235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34864 meters Centerline goodness : 0.995532 with order 1 Centerline is valid? [True, True] Translation: X:288.31, Y:55.09, Z:30.83 [[ 8.95372185e-01 -4.19381349e-01 -1.49759591e-01 2.88312100e+02] [ 4.13658977e-01 9.07810150e-01 -6.90433431e-02 5.50878239e+01] [ 1.64908767e-01 -1.29910325e-04 9.86308817e-01 3.08265378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40864 meters Centerline goodness : 0.991225 with order 1 Centerline is valid? [True, True] Translation: X:288.36, Y:55.11, Z:30.84 [[ 8.94065356e-01 -4.22160690e-01 -1.49758108e-01 2.88364822e+02] [ 4.16476444e-01 9.06520791e-01 -6.90465594e-02 5.51129884e+01] [ 1.64907582e-01 -6.38587686e-04 9.86308817e-01 3.08407435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:288.42, Y:55.14, Z:30.83 [[ 8.94011076e-01 -4.22276491e-01 -1.49755669e-01 2.88423474e+02] [ 4.16592973e-01 9.06466843e-01 -6.90518507e-02 5.51373642e+01] [ 1.64907521e-01 -6.54039763e-04 9.86308817e-01 3.08286301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52863999999994 meters Centerline goodness : 0.993520 with order 1 Centerline is valid? [True, True] Translation: X:288.47, Y:55.16, Z:30.86 [[ 8.96934163e-01 -4.16032172e-01 -1.49754266e-01 2.88473983e+02] [ 4.10261428e-01 9.09349758e-01 -6.90548921e-02 5.51622199e+01] [ 1.64908063e-01 4.99292705e-04 9.86308817e-01 3.08577184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:288.53, Y:55.19, Z:30.85 [[ 9.00315752e-01 -4.08664535e-01 -1.49749272e-01 2.88528492e+02] [ 4.02790393e-01 9.12682763e-01 -6.90657198e-02 5.51939345e+01] [ 1.64898290e-01 1.86338716e-03 9.86308817e-01 3.08499973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64863999999994 meters Centerline goodness : 0.993480 with order 1 Centerline is valid? [True, True] Translation: X:288.58, Y:55.22, Z:30.88 [[ 9.03663301e-01 -4.01208581e-01 -1.49747501e-01 2.88576932e+02] [ 3.95231778e-01 9.15981025e-01 -6.90695609e-02 5.52221586e+01] [ 1.64877170e-01 3.23065648e-03 9.86308817e-01 3.08806994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:288.63, Y:55.25, Z:30.87 [[ 9.03438751e-01 -4.01714649e-01 -1.49745665e-01 2.88632593e+02] [ 3.95744087e-01 9.15759501e-01 -6.90735417e-02 5.52510792e+01] [ 1.64878869e-01 3.14275296e-03 9.86308817e-01 3.08707841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76863999999995 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:288.68, Y:55.28, Z:30.88 [[ 9.02063601e-01 -4.04794354e-01 -1.49742416e-01 2.88682432e+02] [ 3.98864689e-01 9.14404086e-01 -6.90805828e-02 5.52791611e+01] [ 1.64888507e-01 2.58811695e-03 9.86308817e-01 3.08793172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:288.73, Y:55.30, Z:30.89 [[ 8.99797254e-01 -4.09821508e-01 -1.49703820e-01 2.88734105e+02] [ 4.03946895e-01 9.12164037e-01 -6.91641242e-02 5.53034078e+01] [ 1.64899387e-01 1.76129557e-03 9.86308821e-01 3.08875326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:288.79, Y:55.33, Z:30.90 [[ 8.97876405e-01 -4.14026890e-01 -1.49665279e-01 2.88786906e+02] [ 4.08196316e-01 9.10264006e-01 -6.92474252e-02 5.53275234e+01] [ 1.64905213e-01 1.08281352e-03 9.86308825e-01 3.08968116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94863999999995 meters Centerline goodness : 0.986612 with order 1 Centerline is valid? [True, True] Translation: X:288.84, Y:55.35, Z:30.93 [[ 8.95817260e-01 -4.18475704e-01 -1.49631286e-01 2.88837245e+02] [ 4.12694393e-01 9.08227926e-01 -6.93208011e-02 5.53491006e+01] [ 1.64908384e-01 3.46777268e-04 9.86308828e-01 3.09339926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:288.90, Y:55.37, Z:30.92 [[ 8.94611753e-01 -4.21047049e-01 -1.49630188e-01 2.88897135e+02] [ 4.15301013e-01 9.07038790e-01 -6.93231709e-02 5.53727783e+01] [ 1.64908702e-01 -1.24245318e-04 9.86308828e-01 3.09170860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06863999999996 meters Centerline goodness : 0.990011 with order 1 Centerline is valid? [True, True] Translation: X:288.95, Y:55.39, Z:30.95 [[ 8.92681734e-01 -4.25123757e-01 -1.49629923e-01 2.88948793e+02] [ 4.19434374e-01 9.05134810e-01 -6.93237447e-02 5.53934600e+01] [ 1.64906422e-01 -8.75892341e-04 9.86308828e-01 3.09508268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:289.01, Y:55.42, Z:30.94 [[ 8.93110823e-01 -4.24222190e-01 -1.49628174e-01 2.89007979e+02] [ 4.18519604e-01 9.05557859e-01 -6.93275189e-02 5.54154707e+01] [ 1.64907241e-01 -7.05166743e-04 9.86308828e-01 3.09371519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18863999999996 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:289.06, Y:55.44, Z:30.95 [[ 8.94124379e-01 -4.22082414e-01 -1.49626305e-01 2.89061038e+02] [ 4.16349365e-01 9.06557412e-01 -6.93315529e-02 5.54373159e+01] [ 1.64908465e-01 -3.05785292e-04 9.86308828e-01 3.09490710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:289.11, Y:55.46, Z:30.96 [[ 8.94415058e-01 -4.21477976e-01 -1.49592846e-01 2.89113751e+02] [ 4.15724461e-01 9.06838631e-01 -6.94036720e-02 5.54599425e+01] [ 1.64908691e-01 -1.13715868e-04 9.86308831e-01 3.09571108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:289.17, Y:55.48, Z:30.97 [[ 8.93478660e-01 -4.23472954e-01 -1.49554473e-01 2.89166294e+02] [ 4.17733353e-01 9.05908663e-01 -6.94862618e-02 5.54825165e+01] [ 1.64908246e-01 -3.89399427e-04 9.86308835e-01 3.09690786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36863999999997 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:289.22, Y:55.51, Z:30.98 [[ 8.92689556e-01 -4.25147419e-01 -1.49515982e-01 2.89219821e+02] [ 4.19417276e-01 9.05123917e-01 -6.95689877e-02 5.55050656e+01] [ 1.64907567e-01 -6.06077231e-04 9.86308840e-01 3.09794462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42864 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:289.27, Y:55.53, Z:30.99 [[ 8.93084287e-01 -4.24329380e-01 -1.49482553e-01 2.89272335e+02] [ 4.18575835e-01 9.05507834e-01 -6.96407442e-02 5.55284864e+01] [ 1.64908237e-01 -3.74730042e-04 9.86308843e-01 3.09894828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48864 meters Centerline goodness : 0.991433 with order 1 Centerline is valid? [True, True] Translation: X:289.32, Y:55.55, Z:31.02 [[ 8.92451060e-01 -4.25671513e-01 -1.49448547e-01 2.89323516e+02] [ 4.19924442e-01 9.04877600e-01 -6.97136457e-02 5.55495410e+01] [ 1.64907756e-01 -5.41080707e-04 9.86308846e-01 3.10212745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54864 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:289.38, Y:55.58, Z:31.01 [[ 8.92858215e-01 -4.24818274e-01 -1.49444444e-01 2.89380177e+02] [ 4.19057856e-01 9.05278573e-01 -6.97224405e-02 5.55777640e+01] [ 1.64908220e-01 -3.73614488e-04 9.86308846e-01 3.10092075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:289.43, Y:55.60, Z:31.02 [[ 8.93141844e-01 -4.24221723e-01 -1.49444223e-01 2.89432196e+02] [ 4.18452930e-01 9.05558314e-01 -6.97229138e-02 5.56018549e+01] [ 1.64908433e-01 -2.62921272e-04 9.86308846e-01 3.10191008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66864 meters Centerline goodness : 0.990616 with order 1 Centerline is valid? [True, True] Translation: X:289.48, Y:55.63, Z:31.05 [[ 8.92522933e-01 -4.25536012e-01 -1.49405213e-01 2.89481171e+02] [ 4.19771524e-01 9.04941397e-01 -6.98064088e-02 5.56272433e+01] [ 1.64908103e-01 -4.12233058e-04 9.86308850e-01 3.10520745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72864 meters Centerline goodness : 0.992268 with order 1 Centerline is valid? [True, True] Translation: X:289.53, Y:55.65, Z:31.06 [[ 8.93844492e-01 -4.22754440e-01 -1.49401165e-01 2.89534415e+02] [ 4.16949859e-01 9.06244267e-01 -6.98150695e-02 5.56510565e+01] [ 1.64908580e-01 1.11020443e-04 9.86308850e-01 3.10605410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:289.59, Y:55.68, Z:31.05 [[ 8.94955591e-01 -4.20409312e-01 -1.49366999e-01 2.89588919e+02] [ 4.14560051e-01 9.07334348e-01 -6.98880913e-02 5.56813571e+01] [ 1.64907413e-01 6.25147190e-04 9.86308853e-01 3.10512090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84864 meters Centerline goodness : 0.991723 with order 1 Centerline is valid? [True, True] Translation: X:289.64, Y:55.71, Z:31.08 [[ 8.94822469e-01 -4.20693553e-01 -1.49364264e-01 2.89639057e+02] [ 4.14847247e-01 9.07202623e-01 -6.98939374e-02 5.57052847e+01] [ 1.64907581e-01 5.79312068e-04 9.86308853e-01 3.10819221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90864 meters Centerline goodness : 0.993530 with order 1 Centerline is valid? [True, True] Translation: X:289.69, Y:55.73, Z:31.09 [[ 8.93114407e-01 -4.24308244e-01 -1.49362544e-01 2.89691005e+02] [ 4.18511430e-01 9.05517811e-01 -6.98976116e-02 5.57310709e+01] [ 1.64908577e-01 -8.33680853e-05 9.86308853e-01 3.10905340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96864 meters Centerline goodness : 0.996175 with order 1 Centerline is valid? [True, True] Translation: X:289.74, Y:55.76, Z:31.10 [[ 8.92921401e-01 -4.24726486e-01 -1.49327773e-01 2.89744595e+02] [ 4.18923070e-01 9.05321714e-01 -6.99718180e-02 5.57568221e+01] [ 1.64908560e-01 -7.75155980e-05 9.86308857e-01 3.10991036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02863999999994 meters Centerline goodness : 0.993143 with order 1 Centerline is valid? [True, True] Translation: X:289.80, Y:55.79, Z:31.12 [[ 8.93627129e-01 -4.23240483e-01 -1.49325310e-01 2.89795702e+02] [ 4.17415568e-01 9.06017358e-01 -6.99770741e-02 5.57850960e+01] [ 1.64908454e-01 2.02702652e-04 9.86308857e-01 3.11157433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08863999999994 meters Centerline goodness : 0.991631 with order 1 Centerline is valid? [True, True] Translation: X:289.85, Y:55.81, Z:31.13 [[ 8.93370455e-01 -4.23782673e-01 -1.49323397e-01 2.89846161e+02] [ 4.17964595e-01 9.05763896e-01 -6.99811568e-02 5.58138135e+01] [ 1.64908543e-01 1.07204711e-04 9.86308857e-01 3.11254390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:289.90, Y:55.84, Z:31.11 [[ 8.92724384e-01 -4.25154011e-01 -1.49289120e-01 2.89903614e+02] [ 4.19342755e-01 9.05121021e-01 -7.00542040e-02 5.58412595e+01] [ 1.64908547e-01 -6.42147147e-05 9.86308860e-01 3.11094070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20863999999995 meters Centerline goodness : 0.991244 with order 1 Centerline is valid? [True, True] Translation: X:289.95, Y:55.87, Z:31.15 [[ 8.91808979e-01 -4.27071663e-01 -1.49286772e-01 2.89952403e+02] [ 4.21286225e-01 9.04217686e-01 -7.00592080e-02 5.58667294e+01] [ 1.64908042e-01 -4.13029752e-04 9.86308860e-01 3.11451526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:290.01, Y:55.89, Z:31.13 [[ 8.91042083e-01 -4.28670276e-01 -1.49284294e-01 2.90012163e+02] [ 4.22906216e-01 9.03460735e-01 -7.00644865e-02 5.58898725e+01] [ 1.64907061e-01 -7.02850069e-04 9.86308860e-01 3.11280526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:290.07, Y:55.91, Z:31.14 [[ 8.90771836e-01 -4.29232188e-01 -1.49282501e-01 2.90065325e+02] [ 4.23475322e-01 9.03193824e-01 -7.00683068e-02 5.59119909e+01] [ 1.64906606e-01 -8.02580898e-04 9.86308860e-01 3.11381189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38863999999995 meters Centerline goodness : 0.997113 with order 1 Centerline is valid? [True, True] Translation: X:290.12, Y:55.93, Z:31.17 [[ 8.90772132e-01 -4.29244878e-01 -1.49244242e-01 2.90117559e+02] [ 4.23474549e-01 9.03187868e-01 -7.01497055e-02 5.59317290e+01] [ 1.64906990e-01 -7.13735188e-04 9.86308864e-01 3.11691243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44863999999995 meters Centerline goodness : 0.997209 with order 1 Centerline is valid? [True, True] Translation: X:290.17, Y:55.95, Z:31.18 [[ 8.91007137e-01 -4.28757433e-01 -1.49242573e-01 2.90172422e+02] [ 4.22979717e-01 9.03419437e-01 -7.01532556e-02 5.59494502e+01] [ 1.64907371e-01 -6.19529946e-04 9.86308864e-01 3.11795746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50863999999996 meters Centerline goodness : 0.987439 with order 1 Centerline is valid? [True, True] Translation: X:290.23, Y:55.97, Z:31.20 [[ 8.90433331e-01 -4.29961424e-01 -1.49203406e-01 2.90227795e+02] [ 4.24186548e-01 9.02846948e-01 -7.02364589e-02 5.59684972e+01] [ 1.64906808e-01 -7.49193927e-04 9.86308868e-01 3.11961011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56863999999996 meters Centerline goodness : 0.995937 with order 1 Centerline is valid? [True, True] Translation: X:290.28, Y:55.99, Z:31.20 [[ 8.91384463e-01 -4.27986700e-01 -1.49201622e-01 2.90284193e+02] [ 4.22183688e-01 9.03784953e-01 -7.02402504e-02 5.59910981e+01] [ 1.64908073e-01 -3.79422939e-04 9.86308868e-01 3.11996459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.34, Y:56.02, Z:31.18 [[ 8.94228899e-01 -4.22012024e-01 -1.49199624e-01 2.90341806e+02] [ 4.16125451e-01 9.06589941e-01 -7.02444939e-02 5.60178401e+01] [ 1.64906899e-01 7.28895872e-04 9.86308868e-01 3.11846486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:290.39, Y:56.04, Z:31.20 [[ 8.94528426e-01 -4.21377618e-01 -1.49197179e-01 2.90394209e+02] [ 4.15481413e-01 9.06884876e-01 -7.02496852e-02 5.60424773e+01] [ 1.64906310e-01 8.51685465e-04 9.86308868e-01 3.11954186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74863999999997 meters Centerline goodness : 0.996771 with order 1 Centerline is valid? [True, True] Translation: X:290.44, Y:56.07, Z:31.23 [[ 8.93550601e-01 -4.23459247e-01 -1.49162966e-01 2.90442432e+02] [ 4.17579711e-01 9.05914988e-01 -7.03222568e-02 5.60702913e+01] [ 1.64907577e-01 5.49066426e-04 9.86308871e-01 3.12266148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80863999999997 meters Centerline goodness : 0.997604 with order 1 Centerline is valid? [True, True] Translation: X:290.49, Y:56.10, Z:31.23 [[ 8.91940266e-01 -4.26841535e-01 -1.49160538e-01 2.90494589e+02] [ 4.21008024e-01 9.04326434e-01 -7.03274079e-02 5.60962326e+01] [ 1.64908476e-01 -6.99363404e-05 9.86308871e-01 3.12346858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.55, Y:56.12, Z:31.22 [[ 8.88870714e-01 -4.33209119e-01 -1.49126499e-01 2.90550859e+02] [ 4.27452237e-01 9.01292679e-01 -7.03995125e-02 5.61220223e+01] [ 1.64904333e-01 -1.16839068e-03 9.86308874e-01 3.12214769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:290.60, Y:56.15, Z:31.23 [[ 8.87645468e-01 -4.35725795e-01 -1.49092437e-01 2.90602696e+02] [ 4.29992026e-01 9.00078116e-01 -7.04715773e-02 5.61476041e+01] [ 1.64901124e-01 -1.55478282e-03 9.86308878e-01 3.12301134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:290.66, Y:56.17, Z:31.24 [[ 8.86997666e-01 -4.37054353e-01 -1.49059163e-01 2.90655150e+02] [ 4.31327390e-01 8.99433446e-01 -7.05418890e-02 5.61720899e+01] [ 1.64899436e-01 -1.72280867e-03 9.86308881e-01 3.12393177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:290.71, Y:56.20, Z:31.25 [[ 8.87118466e-01 -4.36820468e-01 -1.49025855e-01 2.90706280e+02] [ 4.31078418e-01 8.99547285e-01 -7.06121850e-02 5.62005171e+01] [ 1.64900651e-01 -1.60045655e-03 9.86308884e-01 3.12488043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10864 meters Centerline goodness : 0.998480 with order 1 Centerline is valid? [True, True] Translation: X:290.75, Y:56.23, Z:31.28 [[ 8.87695668e-01 -4.35657496e-01 -1.48993111e-01 2.90753048e+02] [ 4.29887577e-01 9.00111570e-01 -7.06812098e-02 5.62303777e+01] [ 1.64903222e-01 -1.30688353e-03 9.86308886e-01 3.12751174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16864 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:290.81, Y:56.26, Z:31.27 [[ 8.86768933e-01 -4.37552027e-01 -1.48960004e-01 2.90805975e+02] [ 4.31796923e-01 8.99191707e-01 -7.07509146e-02 5.62623003e+01] [ 1.64900806e-01 -1.58075832e-03 9.86308889e-01 3.12654576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:290.86, Y:56.29, Z:31.27 [[ 8.84704644e-01 -4.41722382e-01 -1.48926255e-01 2.90857648e+02] [ 4.36013888e-01 8.97148901e-01 -7.08218843e-02 5.62887061e+01] [ 1.64892637e-01 -2.27746540e-03 9.86308892e-01 3.12744262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28864 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:290.91, Y:56.32, Z:31.28 [[ 8.82413337e-01 -4.46293031e-01 -1.48893359e-01 2.90907839e+02] [ 4.40637333e-01 8.94881674e-01 -7.08909769e-02 5.63189466e+01] [ 1.64880087e-01 -3.05282910e-03 9.86308895e-01 3.12821761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34864 meters Centerline goodness : 0.994621 with order 1 Centerline is valid? [True, True] Translation: X:290.96, Y:56.34, Z:31.31 [[ 8.81514340e-01 -4.48076992e-01 -1.48860595e-01 2.90955073e+02] [ 4.42434923e-01 8.93988847e-01 -7.09597110e-02 5.63447799e+01] [ 1.64875126e-01 -3.30912305e-03 9.86308898e-01 3.13145435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40864 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:291.01, Y:56.37, Z:31.30 [[ 8.81344325e-01 -4.48423650e-01 -1.48823422e-01 2.91010088e+02] [ 4.42773341e-01 8.93815098e-01 -7.10375892e-02 5.63733073e+01] [ 1.64875557e-01 -3.28646784e-03 9.86308902e-01 3.13003733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46863999999994 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:291.06, Y:56.40, Z:31.31 [[ 8.81606901e-01 -4.47918159e-01 -1.48790440e-01 2.91063044e+02] [ 4.42249056e-01 8.94069138e-01 -7.11066055e-02 5.63981200e+01] [ 1.64878880e-01 -3.11435746e-03 9.86308905e-01 3.13097414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52863999999994 meters Centerline goodness : 0.993738 with order 1 Centerline is valid? [True, True] Translation: X:291.11, Y:56.42, Z:31.34 [[ 8.82475300e-01 -4.46215618e-01 -1.48758086e-01 2.91111707e+02] [ 4.40511073e-01 8.94921351e-01 -7.11742283e-02 5.64227067e+01] [ 1.64885840e-01 -2.72008567e-03 9.86308908e-01 3.13403614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58863999999994 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:291.17, Y:56.45, Z:31.33 [[ 8.81864619e-01 -4.47431277e-01 -1.48728097e-01 2.91168489e+02] [ 4.41733332e-01 8.94313690e-01 -7.12368411e-02 5.64462675e+01] [ 1.64883164e-01 -2.87690806e-03 9.86308910e-01 3.13286944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64863999999994 meters Centerline goodness : 0.992462 with order 1 Centerline is valid? [True, True] Translation: X:291.22, Y:56.47, Z:31.36 [[ 8.82515940e-01 -4.46156331e-01 -1.48694800e-01 2.91218889e+02] [ 4.40428704e-01 8.94951380e-01 -7.13062758e-02 5.64683315e+01] [ 1.64888363e-01 -2.56053294e-03 9.86308913e-01 3.13593473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70863999999995 meters Centerline goodness : 0.990101 with order 1 Centerline is valid? [True, True] Translation: X:291.27, Y:56.49, Z:31.37 [[ 8.84420634e-01 -4.42378889e-01 -1.48664256e-01 2.91271768e+02] [ 4.36587449e-01 8.96826481e-01 -7.13699005e-02 5.64907740e+01] [ 1.64898579e-01 -1.78393552e-03 9.86308915e-01 3.13728257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76863999999995 meters Centerline goodness : 0.992020 with order 1 Centerline is valid? [True, True] Translation: X:291.32, Y:56.52, Z:31.38 [[ 8.88684804e-01 -4.33752390e-01 -1.48654575e-01 2.91322843e+02] [ 4.27837142e-01 9.01032097e-01 -7.13900597e-02 5.65224251e+01] [ 1.64908152e-01 -1.56687090e-04 9.86308916e-01 3.13795511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82863999999995 meters Centerline goodness : 0.993541 with order 1 Centerline is valid? [True, True] Translation: X:291.38, Y:56.55, Z:31.39 [[ 8.90645083e-01 -4.29713731e-01 -1.48652095e-01 2.91376161e+02] [ 4.23741631e-01 9.02964978e-01 -7.13952226e-02 5.65463505e+01] [ 1.64907143e-01 5.97722788e-04 9.86308916e-01 3.13862203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88863999999995 meters Centerline goodness : 0.992221 with order 1 Centerline is valid? [True, True] Translation: X:291.43, Y:56.58, Z:31.40 [[ 8.91251913e-01 -4.28465642e-01 -1.48617700e-01 2.91425229e+02] [ 4.22464362e-01 9.03557617e-01 -7.14667488e-02 5.65767332e+01] [ 1.64905701e-01 9.09194720e-04 9.86308919e-01 3.13976942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94863999999995 meters Centerline goodness : 0.992504 with order 1 Centerline is valid? [True, True] Translation: X:291.48, Y:56.60, Z:31.41 [[ 8.90857861e-01 -4.29296373e-01 -1.48582956e-01 2.91476569e+02] [ 4.23294531e-01 9.03163287e-01 -7.15389118e-02 5.66034997e+01] [ 1.64906067e-01 8.36649140e-04 9.86308922e-01 3.14051026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00863999999996 meters Centerline goodness : 0.998433 with order 1 Centerline is valid? [True, True] Translation: X:291.53, Y:56.63, Z:31.40 [[ 8.89677421e-01 -4.31741644e-01 -1.48570657e-01 2.91531234e+02] [ 4.25769359e-01 9.01997219e-01 -7.15644464e-02 5.66310958e+01] [ 1.64907671e-01 4.12438863e-04 9.86308922e-01 3.13982480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06863999999996 meters Centerline goodness : 0.997797 with order 1 Centerline is valid? [True, True] Translation: X:291.58, Y:56.66, Z:31.41 [[ 8.88905055e-01 -4.33340724e-01 -1.48538276e-01 2.91583578e+02] [ 4.27379381e-01 9.01230148e-01 -7.16315923e-02 5.66572975e+01] [ 1.64908059e-01 1.91487978e-04 9.86308925e-01 3.14065718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12863999999996 meters Centerline goodness : 0.997605 with order 1 Centerline is valid? [True, True] Translation: X:291.64, Y:56.68, Z:31.42 [[ 8.89090082e-01 -4.32972652e-01 -1.48504239e-01 2.91635772e+02] [ 4.26994430e-01 9.01406993e-01 -7.17020890e-02 5.66830817e+01] [ 1.64907803e-01 3.39133288e-04 9.86308928e-01 3.14177783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18863999999996 meters Centerline goodness : 0.997646 with order 1 Centerline is valid? [True, True] Translation: X:291.69, Y:56.71, Z:31.43 [[ 8.88846665e-01 -4.33483773e-01 -1.48470284e-01 2.91686878e+02] [ 4.27500899e-01 9.01161314e-01 -7.17723307e-02 5.67112235e+01] [ 1.64907817e-01 3.23417020e-04 9.86308931e-01 3.14279749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24863999999997 meters Centerline goodness : 0.996962 with order 1 Centerline is valid? [True, True] Translation: X:291.74, Y:56.74, Z:31.44 [[ 8.87291081e-01 -4.36670506e-01 -1.48436539e-01 2.91739713e+02] [ 4.30720194e-01 8.99621495e-01 -7.18420532e-02 5.67356402e+01] [ 1.64908007e-01 -1.89801986e-04 9.86308934e-01 3.14365618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30863999999997 meters Centerline goodness : 0.998043 with order 1 Centerline is valid? [True, True] Translation: X:291.79, Y:56.76, Z:31.45 [[ 8.84098553e-01 -4.43110053e-01 -1.48402256e-01 2.91791682e+02] [ 4.37237672e-01 8.96466266e-01 -7.19128033e-02 5.67606753e+01] [ 1.64902902e-01 -1.30905158e-03 9.86308937e-01 3.14478079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36863999999997 meters Centerline goodness : 0.998630 with order 1 Centerline is valid? [True, True] Translation: X:291.84, Y:56.79, Z:31.46 [[ 8.83201347e-01 -4.44906958e-01 -1.48368388e-01 2.91843988e+02] [ 4.39048011e-01 8.95575428e-01 -7.19826119e-02 5.67860345e+01] [ 1.64900647e-01 -1.56570588e-03 9.86308940e-01 3.14574928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42864 meters Centerline goodness : 0.998532 with order 1 Centerline is valid? [True, True] Translation: X:291.90, Y:56.81, Z:31.47 [[ 8.83134706e-01 -4.45050513e-01 -1.48334531e-01 2.91895400e+02] [ 4.39181870e-01 8.95504187e-01 -7.20523156e-02 5.68113127e+01] [ 1.64901113e-01 -1.51393589e-03 9.86308943e-01 3.14669071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48864 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:291.95, Y:56.84, Z:31.48 [[ 8.82994698e-01 -4.45340950e-01 -1.48296332e-01 2.91946438e+02] [ 4.39463185e-01 8.95359843e-01 -7.21308504e-02 5.68364954e+01] [ 1.64901402e-01 -1.47962006e-03 9.86308947e-01 3.14763070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:292.00, Y:56.86, Z:31.49 [[ 8.82244918e-01 -4.46837155e-01 -1.48258092e-01 2.91997626e+02] [ 4.40967166e-01 8.94613753e-01 -7.22093649e-02 5.68638415e+01] [ 1.64899555e-01 -1.67060552e-03 9.86308950e-01 3.14857374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:292.05, Y:56.89, Z:31.50 [[ 8.80199681e-01 -4.50863619e-01 -1.48224553e-01 2.92050182e+02] [ 4.45038626e-01 8.92589766e-01 -7.22781472e-02 5.68878531e+01] [ 1.64891306e-01 -2.34644919e-03 9.86308953e-01 3.14955041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:292.10, Y:56.91, Z:31.51 [[ 8.78827667e-01 -4.53543023e-01 -1.48191286e-01 2.92103585e+02] [ 4.47744315e-01 8.91230073e-01 -7.23462908e-02 5.69098513e+01] [ 1.64884686e-01 -2.77188375e-03 9.86308956e-01 3.15053476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:292.15, Y:56.94, Z:31.52 [[ 8.79700705e-01 -4.51858158e-01 -1.48158274e-01 2.92154946e+02] [ 4.46024321e-01 8.92086622e-01 -7.24138335e-02 5.69368914e+01] [ 1.64890796e-01 -2.37969328e-03 9.86308959e-01 3.15151517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:292.21, Y:56.96, Z:31.52 [[ 8.80910109e-01 -4.49506676e-01 -1.48125380e-01 2.92208215e+02] [ 4.43628471e-01 8.93275028e-01 -7.24810586e-02 5.69603462e+01] [ 1.64897423e-01 -1.86333866e-03 9.86308962e-01 3.15239116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:292.26, Y:56.98, Z:31.54 [[ 8.80036333e-01 -4.51225893e-01 -1.48092020e-01 2.92260324e+02] [ 4.45360384e-01 8.92407277e-01 -7.25491566e-02 5.69828767e+01] [ 1.64894454e-01 -2.10842517e-03 9.86308965e-01 3.15350093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90864 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:292.31, Y:57.01, Z:31.54 [[ 8.79179553e-01 -4.52905560e-01 -1.48053594e-01 2.92313054e+02] [ 4.47050495e-01 8.91555440e-01 -7.26274914e-02 5.70073448e+01] [ 1.64891381e-01 -2.33482684e-03 9.86308968e-01 3.15436012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96863999999994 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:292.36, Y:57.03, Z:31.55 [[ 8.78331755e-01 -4.54558466e-01 -1.48020028e-01 2.92364458e+02] [ 4.48715175e-01 8.90713201e-01 -7.26958373e-02 5.70334226e+01] [ 1.64887901e-01 -2.56777029e-03 9.86308971e-01 3.15542284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02863999999994 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:292.42, Y:57.06, Z:31.56 [[ 8.78778604e-01 -4.53704967e-01 -1.47986375e-01 2.92416165e+02] [ 4.47838126e-01 8.91148906e-01 -7.27642815e-02 5.70579473e+01] [ 1.64891412e-01 -2.33024690e-03 9.86308974e-01 3.15629895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08863999999994 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:292.47, Y:57.09, Z:31.57 [[ 8.80657502e-01 -4.50059739e-01 -1.47947948e-01 2.92466778e+02] [ 4.44128578e-01 8.92997089e-01 -7.28423304e-02 5.70867425e+01] [ 1.64900487e-01 -1.55876697e-03 9.86308978e-01 3.15738679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14863999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:292.52, Y:57.11, Z:31.58 [[ 8.80156834e-01 -4.51049197e-01 -1.47914058e-01 2.92518624e+02] [ 4.45120353e-01 8.92497532e-01 -7.29110835e-02 5.71137298e+01] [ 1.64899418e-01 -1.66636933e-03 9.86308981e-01 3.15831458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20863999999995 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:292.57, Y:57.14, Z:31.59 [[ 8.78948634e-01 -4.53410235e-01 -1.47879880e-01 2.92570327e+02] [ 4.47502888e-01 8.91299633e-01 -7.29803405e-02 5.71388114e+01] [ 1.64895316e-01 -2.03070258e-03 9.86308984e-01 3.15915799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26863999999995 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:292.62, Y:57.16, Z:31.60 [[ 8.76882016e-01 -4.57406898e-01 -1.47840656e-01 2.92623214e+02] [ 4.51542460e-01 8.89253442e-01 -7.30597132e-02 5.71611266e+01] [ 1.64885829e-01 -2.69158496e-03 9.86308987e-01 3.15996568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32863999999995 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:292.68, Y:57.19, Z:31.61 [[ 8.76460850e-01 -4.58225765e-01 -1.47802325e-01 2.92675393e+02] [ 4.52359825e-01 8.88831560e-01 -7.31371782e-02 5.71850613e+01] [ 1.64884710e-01 -2.75796032e-03 9.86308991e-01 3.16107457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38863999999995 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:292.73, Y:57.21, Z:31.62 [[ 8.76968350e-01 -4.57264596e-01 -1.47768746e-01 2.92728852e+02] [ 4.51373678e-01 8.89327182e-01 -7.32049598e-02 5.72085358e+01] [ 1.64888799e-01 -2.50048951e-03 9.86308994e-01 3.16208135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44863999999995 meters Centerline goodness : 0.989968 with order 1 Centerline is valid? [True, True] Translation: X:292.78, Y:57.23, Z:31.65 [[ 8.78259905e-01 -4.54789957e-01 -1.47735012e-01 2.92779982e+02] [ 4.48852773e-01 8.90596575e-01 -7.32729771e-02 5.72307522e+01] [ 1.64896109e-01 -1.95855161e-03 9.86308997e-01 3.16541955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50863999999996 meters Centerline goodness : 0.988552 with order 1 Centerline is valid? [True, True] Translation: X:292.83, Y:57.26, Z:31.67 [[ 8.79665126e-01 -4.52066374e-01 -1.47733742e-01 2.92831826e+02] [ 4.46090562e-01 8.91983131e-01 -7.32755365e-02 5.72561894e+01] [ 1.64901412e-01 -1.44469401e-03 9.86308997e-01 3.16666656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56863999999996 meters Centerline goodness : 0.993337 with order 1 Centerline is valid? [True, True] Translation: X:292.88, Y:57.28, Z:31.67 [[ 8.82051718e-01 -4.47403540e-01 -1.47698474e-01 2.92883493e+02] [ 4.41350712e-01 8.94332059e-01 -7.33465580e-02 5.72831541e+01] [ 1.64906990e-01 -4.91369035e-04 9.86309000e-01 3.16728077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62863999999996 meters Centerline goodness : 0.994659 with order 1 Centerline is valid? [True, True] Translation: X:292.93, Y:57.31, Z:31.68 [[ 8.84271977e-01 -4.43011035e-01 -1.47662770e-01 2.92933068e+02] [ 4.36885212e-01 8.96516065e-01 -7.34183687e-02 5.73140548e+01] [ 1.64907193e-01 4.10125482e-04 9.86309003e-01 3.16833079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:292.99, Y:57.35, Z:31.67 [[ 8.85226280e-01 -4.41113121e-01 -1.47626716e-01 2.92986324e+02] [ 4.34948967e-01 8.97451112e-01 -7.34907932e-02 5.73484323e+01] [ 1.64905514e-01 8.45893700e-04 9.86309006e-01 3.16715540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74863999999997 meters Centerline goodness : 0.994616 with order 1 Centerline is valid? [True, True] Translation: X:293.04, Y:57.37, Z:31.70 [[ 8.84046042e-01 -4.43474588e-01 -1.47624139e-01 2.93035721e+02] [ 4.37342225e-01 8.96286852e-01 -7.34959705e-02 5.73745549e+01] [ 1.64907170e-01 4.11552461e-04 9.86309006e-01 3.17000828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:293.09, Y:57.41, Z:31.69 [[ 8.81988612e-01 -4.47554102e-01 -1.47619151e-01 2.93089223e+02] [ 4.41476680e-01 8.94256792e-01 -7.35059869e-02 5.74058004e+01] [ 1.64907335e-01 -3.38969465e-04 9.86309006e-01 3.16906764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86863999999997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:293.14, Y:57.43, Z:31.70 [[ 8.81021137e-01 -4.49458101e-01 -1.47611557e-01 2.93142603e+02] [ 4.43404637e-01 8.93301156e-01 -7.35212348e-02 5.74290327e+01] [ 1.64906289e-01 -6.77886738e-04 9.86309007e-01 3.17008304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92864 meters Centerline goodness : 0.994605 with order 1 Centerline is valid? [True, True] Translation: X:293.19, Y:57.45, Z:31.73 [[ 8.80455641e-01 -4.50576270e-01 -1.47576726e-01 2.93192983e+02] [ 4.44526693e-01 8.92737572e-01 -7.35910832e-02 5.74540872e+01] [ 1.64905684e-01 -8.08109738e-04 9.86309010e-01 3.17292854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:293.25, Y:57.48, Z:31.72 [[ 8.81718715e-01 -4.48100379e-01 -1.47574243e-01 2.93249688e+02] [ 4.42015480e-01 8.93983185e-01 -7.35960629e-02 5.74797403e+01] [ 1.64907315e-01 -3.39073780e-04 9.86309010e-01 3.17201209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04864 meters Centerline goodness : 0.994955 with order 1 Centerline is valid? [True, True] Translation: X:293.30, Y:57.50, Z:31.75 [[ 8.82052855e-01 -4.47443973e-01 -1.47569143e-01 2.93299378e+02] [ 4.41348236e-01 8.94311942e-01 -7.36062870e-02 5.75039295e+01] [ 1.64907537e-01 -2.04745391e-04 9.86309010e-01 3.17502722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:293.36, Y:57.53, Z:31.74 [[ 8.83167571e-01 -4.45241364e-01 -1.47564123e-01 2.93356105e+02] [ 4.39113371e-01 8.95410565e-01 -7.36163512e-02 5.75307450e+01] [ 1.64907519e-01 2.18194744e-04 9.86309010e-01 3.17399501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16864 meters Centerline goodness : 0.994958 with order 1 Centerline is valid? [True, True] Translation: X:293.41, Y:57.55, Z:31.77 [[ 8.82495441e-01 -4.46572928e-01 -1.47561570e-01 2.93406413e+02] [ 4.40462552e-01 8.94747238e-01 -7.36214680e-02 5.75537319e+01] [ 1.64907661e-01 -2.47357965e-05 9.86309010e-01 3.17696650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:293.46, Y:57.58, Z:31.76 [[ 8.80544210e-01 -4.50409755e-01 -1.47556585e-01 2.93463599e+02] [ 4.44351090e-01 8.92821661e-01 -7.36314565e-02 5.75784551e+01] [ 1.64906042e-01 -7.31176739e-04 9.86309010e-01 3.17599001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.52, Y:57.60, Z:31.77 [[ 8.78577866e-01 -4.54235060e-01 -1.47551497e-01 2.93516066e+02] [ 4.48228135e-01 8.90880714e-01 -7.36416508e-02 5.76013303e+01] [ 1.64901403e-01 -1.43680814e-03 9.86309010e-01 3.17673401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:293.57, Y:57.62, Z:31.78 [[ 8.75910962e-01 -4.59369332e-01 -1.47512046e-01 2.93570299e+02] [ 4.53421222e-01 8.88242348e-01 -7.37205938e-02 5.76208560e+01] [ 1.64891426e-01 -2.31241581e-03 9.86309014e-01 3.17793336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:293.63, Y:57.64, Z:31.79 [[ 8.73209458e-01 -4.64496638e-01 -1.47472425e-01 2.93625631e+02] [ 4.58607559e-01 8.85569140e-01 -7.37997687e-02 5.76415494e+01] [ 1.64876773e-01 -3.18931266e-03 9.86309018e-01 3.17867394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:293.68, Y:57.66, Z:31.80 [[ 8.73132561e-01 -4.64651965e-01 -1.47438403e-01 2.93680673e+02] [ 4.58753621e-01 8.85487821e-01 -7.38676773e-02 5.76605021e+01] [ 1.64877671e-01 -3.14162682e-03 9.86309020e-01 3.17953316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52863999999994 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:293.73, Y:57.68, Z:31.81 [[ 8.75518497e-01 -4.60144382e-01 -1.47426287e-01 2.93733441e+02] [ 4.54178349e-01 8.87841214e-01 -7.38918497e-02 5.76837137e+01] [ 1.64892053e-01 -2.26414664e-03 9.86309021e-01 3.18050290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.79, Y:57.70, Z:31.82 [[ 8.77252926e-01 -4.56840166e-01 -1.47391881e-01 2.93788459e+02] [ 4.50816195e-01 8.89547421e-01 -7.39604168e-02 5.77023631e+01] [ 1.64900157e-01 -1.56465508e-03 9.86309024e-01 3.18169102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64863999999994 meters Centerline goodness : 0.996716 with order 1 Centerline is valid? [True, True] Translation: X:293.84, Y:57.72, Z:31.85 [[ 8.79481735e-01 -4.52545793e-01 -1.47357327e-01 2.93839226e+02] [ 4.46450261e-01 8.91740905e-01 -7.40291983e-02 5.77228143e+01] [ 1.64906159e-01 -6.80389479e-04 9.86309027e-01 3.18462043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:293.90, Y:57.75, Z:31.84 [[ 8.82121873e-01 -4.47381006e-01 -1.47347330e-01 2.93895793e+02] [ 4.41210372e-01 8.94343412e-01 -7.40490923e-02 5.77489813e+01] [ 1.64907271e-01 3.09153835e-04 9.86309027e-01 3.18355434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:293.95, Y:57.77, Z:31.85 [[ 8.82606553e-01 -4.46425751e-01 -1.47342190e-01 2.93946576e+02] [ 4.40240182e-01 8.94820540e-01 -7.40593171e-02 5.77744554e+01] [ 1.64906805e-01 4.99285915e-04 9.86309027e-01 3.18458784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:294.00, Y:57.80, Z:31.86 [[ 8.83193403e-01 -4.45277151e-01 -1.47301296e-01 2.93998119e+02] [ 4.39062145e-01 8.95392433e-01 -7.41405672e-02 5.77990402e+01] [ 1.64905566e-01 8.06036963e-04 9.86309031e-01 3.18557006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88863999999995 meters Centerline goodness : 0.996570 with order 1 Centerline is valid? [True, True] Translation: X:294.05, Y:57.83, Z:31.89 [[ 8.83449175e-01 -4.44783016e-01 -1.47260395e-01 2.94045645e+02] [ 4.38547659e-01 8.95637811e-01 -7.42217177e-02 5.78256193e+01] [ 1.64904538e-01 9.90413608e-04 9.86309035e-01 3.18854901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:294.10, Y:57.85, Z:31.88 [[ 8.82590843e-01 -4.46487161e-01 -1.47250189e-01 2.94100833e+02] [ 4.40271961e-01 8.94789769e-01 -7.42419609e-02 5.78528950e+01] [ 1.64906045e-01 6.95145326e-04 9.86309035e-01 3.18760844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:294.15, Y:57.88, Z:31.88 [[ 8.81328827e-01 -4.48975726e-01 -1.47242308e-01 2.94151265e+02] [ 4.42792360e-01 8.93543920e-01 -7.42575889e-02 5.78812288e+01] [ 1.64907323e-01 2.47584910e-04 9.86309035e-01 3.18848263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:294.20, Y:57.91, Z:31.89 [[ 8.79455741e-01 -4.52645421e-01 -1.47206396e-01 2.94202065e+02] [ 4.46501118e-01 8.91690526e-01 -7.43287115e-02 5.79097171e+01] [ 1.64907100e-01 -3.59008429e-04 9.86309039e-01 3.18944651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12863999999996 meters Centerline goodness : 0.994664 with order 1 Centerline is valid? [True, True] Translation: X:294.25, Y:57.94, Z:31.93 [[ 8.78684026e-01 -4.54153298e-01 -1.47170529e-01 2.94251020e+02] [ 4.48018106e-01 8.90923379e-01 -7.43996628e-02 5.79363050e+01] [ 1.64906517e-01 -5.61266267e-04 9.86309042e-01 3.19252788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18863999999996 meters Centerline goodness : 0.996079 with order 1 Centerline is valid? [True, True] Translation: X:294.30, Y:57.96, Z:31.93 [[ 8.77577595e-01 -4.56288441e-01 -1.47168009e-01 2.94303716e+02] [ 4.50182191e-01 8.89831413e-01 -7.44046459e-02 5.79613157e+01] [ 1.64904698e-01 -9.56566651e-04 9.86309042e-01 3.19337751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24863999999997 meters Centerline goodness : 0.996029 with order 1 Centerline is valid? [True, True] Translation: X:294.35, Y:57.99, Z:31.94 [[ 8.77894456e-01 -4.55690160e-01 -1.47131918e-01 2.94354831e+02] [ 4.49563608e-01 8.90138133e-01 -7.44759486e-02 5.79880073e+01] [ 1.64905687e-01 -7.63133350e-04 9.86309045e-01 3.19426877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30863999999997 meters Centerline goodness : 0.993728 with order 1 Centerline is valid? [True, True] Translation: X:294.41, Y:58.01, Z:31.96 [[ 8.78175780e-01 -4.55159499e-01 -1.47095649e-01 2.94407775e+02] [ 4.49013559e-01 8.90409733e-01 -7.45475144e-02 5.80142765e+01] [ 1.64906407e-01 -5.82119145e-04 9.86309048e-01 3.19556037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:294.46, Y:58.05, Z:31.94 [[ 8.79997680e-01 -4.51627842e-01 -1.47093088e-01 2.94462994e+02] [ 4.45431958e-01 8.92206414e-01 -7.45525678e-02 5.80450515e+01] [ 1.64907411e-01 8.61246630e-05 9.86309048e-01 3.19418862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42864 meters Centerline goodness : 0.995839 with order 1 Centerline is valid? [True, True] Translation: X:294.51, Y:58.07, Z:31.97 [[ 8.82017391e-01 -4.47670907e-01 -1.47092080e-01 2.94511641e+02] [ 4.41419921e-01 8.94198005e-01 -7.45545553e-02 5.80724793e+01] [ 1.64905350e-01 8.29039936e-04 9.86309048e-01 3.19744044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48864 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:294.56, Y:58.11, Z:31.96 [[ 8.85802254e-01 -4.40134397e-01 -1.47092080e-01 2.94564910e+02] [ 4.33779784e-01 8.97929127e-01 -7.45545553e-02 5.81051316e+01] [ 1.64892287e-01 2.23502233e-03 9.86309048e-01 3.19641909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54864 meters Centerline goodness : 0.987607 with order 1 Centerline is valid? [True, True] Translation: X:294.61, Y:58.13, Z:32.00 [[ 8.85652287e-01 -4.40436955e-01 -1.47089477e-01 2.94612427e+02] [ 4.34085632e-01 8.97780884e-01 -7.45596908e-02 5.81333878e+01] [ 1.64892964e-01 2.18453205e-03 9.86309048e-01 3.19996122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:294.67, Y:58.16, Z:31.99 [[ 8.87609444e-01 -4.36480226e-01 -1.47086665e-01 2.94669457e+02] [ 4.30073922e-01 8.99709090e-01 -7.45652382e-02 5.81612668e+01] [ 1.64881461e-01 2.92667083e-03 9.86309048e-01 3.19856341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:294.72, Y:58.19, Z:32.00 [[ 8.88164463e-01 -4.35350281e-01 -1.47085077e-01 2.94719389e+02] [ 4.28928065e-01 9.00255671e-01 -7.45683704e-02 5.81916138e+01] [ 1.64877536e-01 3.14005923e-03 9.86309048e-01 3.19955034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:294.77, Y:58.22, Z:32.00 [[ 8.89110064e-01 -4.33428016e-01 -1.47049140e-01 2.94768950e+02] [ 4.26967956e-01 9.01181091e-01 -7.46391720e-02 5.82201939e+01] [ 1.64868613e-01 3.57716824e-03 9.86309051e-01 3.20039703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78864 meters Centerline goodness : 0.991473 with order 1 Centerline is valid? [True, True] Translation: X:294.82, Y:58.25, Z:32.04 [[ 8.89333416e-01 -4.32983503e-01 -1.47008033e-01 2.94816648e+02] [ 4.26504047e-01 9.01394038e-01 -7.47200502e-02 5.82469534e+01] [ 1.64864713e-01 3.75151673e-03 9.86309055e-01 3.20380151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:294.87, Y:58.28, Z:32.03 [[ 8.91527637e-01 -4.28448785e-01 -1.47003779e-01 2.94872246e+02] [ 4.21906613e-01 9.03554355e-01 -7.47284174e-02 5.82765361e+01] [ 1.64843205e-01 4.60058275e-03 9.86309055e-01 3.20257205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:294.92, Y:58.31, Z:32.03 [[ 8.94002495e-01 -4.23261410e-01 -1.47001082e-01 2.94920315e+02] [ 4.16648598e-01 9.05990517e-01 -7.47337232e-02 5.83089248e+01] [ 1.64813487e-01 5.56434035e-03 9.86309055e-01 3.20348744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96863999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:294.97, Y:58.34, Z:32.04 [[ 8.94974729e-01 -4.21215859e-01 -1.46960656e-01 2.94971616e+02] [ 4.14562629e-01 9.06940363e-01 -7.48131351e-02 5.83361285e+01] [ 1.64797030e-01 6.03146926e-03 9.86309059e-01 3.20449803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02863999999994 meters Centerline goodness : 0.991424 with order 1 Centerline is valid? [True, True] Translation: X:295.02, Y:58.37, Z:32.07 [[ 8.95687855e-01 -4.19709584e-01 -1.46925602e-01 2.95019752e+02] [ 4.13024969e-01 9.07635981e-01 -7.48819165e-02 5.83661769e+01] [ 1.64783621e-01 6.38688090e-03 9.86309062e-01 3.20748119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:295.07, Y:58.40, Z:32.06 [[ 8.96822245e-01 -4.17280758e-01 -1.46923893e-01 2.95072594e+02] [ 4.10563242e-01 9.08751903e-01 -7.48852685e-02 5.84013532e+01] [ 1.64765549e-01 6.83722467e-03 9.86309062e-01 3.20638085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14863999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:295.12, Y:58.43, Z:32.07 [[ 8.96038521e-01 -4.18962209e-01 -1.46920513e-01 2.95123251e+02] [ 4.12265995e-01 9.07980150e-01 -7.48919009e-02 5.84300557e+01] [ 1.64777785e-01 6.53569667e-03 9.86309062e-01 3.20747365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20863999999995 meters Centerline goodness : 0.990748 with order 1 Centerline is valid? [True, True] Translation: X:295.17, Y:58.46, Z:32.10 [[ 8.93952448e-01 -4.23407008e-01 -1.46886101e-01 2.95170473e+02] [ 4.16759118e-01 9.05921043e-01 -7.49593326e-02 5.84610469e+01] [ 1.64805517e-01 5.79395684e-03 9.86309065e-01 3.21036396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26863999999995 meters Centerline goodness : 0.992309 with order 1 Centerline is valid? [True, True] Translation: X:295.22, Y:58.50, Z:32.11 [[ 8.94704157e-01 -4.21817110e-01 -1.46883618e-01 2.95218697e+02] [ 4.15147156e-01 9.06660470e-01 -7.49641986e-02 5.84953120e+01] [ 1.64794751e-01 6.09246394e-03 9.86309065e-01 3.21105618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32863999999995 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:295.27, Y:58.53, Z:32.10 [[ 8.97597260e-01 -4.15637642e-01 -1.46848595e-01 2.95269737e+02] [ 4.08874214e-01 9.09500943e-01 -7.50327427e-02 5.85327783e+01] [ 1.64745368e-01 7.30658014e-03 9.86309068e-01 3.21040350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38863999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:295.32, Y:58.57, Z:32.11 [[ 8.96667011e-01 -4.17640708e-01 -1.46848595e-01 2.95318158e+02] [ 4.10903875e-01 9.08585765e-01 -7.50327427e-02 5.85662105e+01] [ 1.64761271e-01 6.93872815e-03 9.86309068e-01 3.21134081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44863999999995 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:295.37, Y:58.60, Z:32.12 [[ 8.95088991e-01 -4.21024188e-01 -1.46813934e-01 2.95366994e+02] [ 4.14321322e-01 9.07026877e-01 -7.51005039e-02 5.85971084e+01] [ 1.64783313e-01 6.39349108e-03 9.86309071e-01 3.21231636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50863999999996 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:295.42, Y:58.63, Z:32.13 [[ 8.93144726e-01 -4.25146954e-01 -1.46773858e-01 2.95416214e+02] [ 4.18486364e-01 9.05106247e-01 -7.51787464e-02 5.86283188e+01] [ 1.64807951e-01 5.72264275e-03 9.86309075e-01 3.21334202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56863999999996 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:295.47, Y:58.66, Z:32.14 [[ 8.91275694e-01 -4.29063336e-01 -1.46738853e-01 2.95465796e+02] [ 4.22444089e-01 9.03260139e-01 -7.52470097e-02 5.86565794e+01] [ 1.64829090e-01 5.07686953e-03 9.86309078e-01 3.21408421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62863999999996 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:295.52, Y:58.69, Z:32.15 [[ 8.88755543e-01 -4.34273209e-01 -1.46698208e-01 2.95516903e+02] [ 4.27711171e-01 9.00771404e-01 -7.53261694e-02 5.86854361e+01] [ 1.64853688e-01 4.20208851e-03 9.86309081e-01 3.21487991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:295.57, Y:58.71, Z:32.16 [[ 8.86340202e-01 -4.39193816e-01 -1.46662325e-01 2.95569638e+02] [ 4.32686950e-01 8.98386026e-01 -7.53959700e-02 5.87102567e+01] [ 1.64872827e-01 3.36760527e-03 9.86309084e-01 3.21595978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74863999999997 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:295.62, Y:58.74, Z:32.17 [[ 8.84698517e-01 -4.42503308e-01 -1.46626593e-01 2.95621132e+02] [ 4.36030002e-01 8.96762405e-01 -7.54653980e-02 5.87382426e+01] [ 1.64882904e-01 2.83053210e-03 9.86309087e-01 3.21686856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:295.67, Y:58.76, Z:32.18 [[ 8.84509121e-01 -4.42892749e-01 -1.46593407e-01 2.95674612e+02] [ 4.36414083e-01 8.96570129e-01 -7.55298083e-02 5.87627997e+01] [ 1.64882874e-01 2.83137708e-03 9.86309090e-01 3.21760900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86863999999997 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:295.72, Y:58.79, Z:32.19 [[ 8.86569139e-01 -4.38766434e-01 -1.46557762e-01 2.95724476e+02] [ 4.32220221e-01 8.98593615e-01 -7.55989111e-02 5.87927841e+01] [ 1.64866134e-01 3.67843318e-03 9.86309093e-01 3.21878514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:295.78, Y:58.82, Z:32.20 [[ 8.87598674e-01 -4.36683363e-01 -1.46547721e-01 2.95776841e+02] [ 4.30105721e-01 8.99605986e-01 -7.56183714e-02 5.88174835e+01] [ 1.64856491e-01 4.08775318e-03 9.86309093e-01 3.21993007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98864 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:295.83, Y:58.84, Z:32.21 [[ 8.88143389e-01 -4.35586347e-01 -1.46512304e-01 2.95828360e+02] [ 4.28982573e-01 9.00136345e-01 -7.56869308e-02 5.88448967e+01] [ 1.64849244e-01 4.36962201e-03 9.86309096e-01 3.22065585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04864 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:295.88, Y:58.87, Z:32.22 [[ 8.88881027e-01 -4.34091165e-01 -1.46476555e-01 2.95879140e+02] [ 4.27455838e-01 9.00856552e-01 -7.57560533e-02 5.88720449e+01] [ 1.64839398e-01 4.72585973e-03 9.86309099e-01 3.22170294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10864 meters Centerline goodness : 0.990362 with order 1 Centerline is valid? [True, True] Translation: X:295.92, Y:58.90, Z:32.24 [[ 8.88659246e-01 -4.34556986e-01 -1.46441015e-01 2.95924660e+02] [ 4.27916636e-01 9.00631983e-01 -7.58246936e-02 5.89032261e+01] [ 1.64839612e-01 4.71776864e-03 9.86309102e-01 3.22436682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16864 meters Centerline goodness : 0.990317 with order 1 Centerline is valid? [True, True] Translation: X:295.97, Y:58.93, Z:32.25 [[ 8.87536475e-01 -4.36848954e-01 -1.46430859e-01 2.95972928e+02] [ 4.30236293e-01 8.99524527e-01 -7.58443007e-02 5.89344774e+01] [ 1.64850653e-01 4.31471321e-03 9.86309102e-01 3.22537048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22864 meters Centerline goodness : 0.992601 with order 1 Centerline is valid? [True, True] Translation: X:296.02, Y:58.96, Z:32.26 [[ 8.85190476e-01 -4.41597145e-01 -1.46389149e-01 2.96023506e+02] [ 4.35035503e-01 8.97206525e-01 -7.59247242e-02 5.89627320e+01] [ 1.64869441e-01 3.52336599e-03 9.86309106e-01 3.22612326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28864 meters Centerline goodness : 0.992654 with order 1 Centerline is valid? [True, True] Translation: X:296.07, Y:58.99, Z:32.27 [[ 8.82648136e-01 -4.46661296e-01 -1.46376072e-01 2.96074700e+02] [ 4.40164426e-01 8.94699328e-01 -7.59499269e-02 5.89900917e+01] [ 1.64886466e-01 2.60752182e-03 9.86309107e-01 3.22698181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34864 meters Centerline goodness : 0.991970 with order 1 Centerline is valid? [True, True] Translation: X:296.13, Y:59.02, Z:32.28 [[ 8.81447508e-01 -4.49029355e-01 -1.46365735e-01 2.96126835e+02] [ 4.42561556e-01 8.93514327e-01 -7.59698422e-02 5.90160989e+01] [ 1.64892570e-01 2.18758072e-03 9.86309107e-01 3.22783584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40864 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:296.18, Y:59.04, Z:32.27 [[ 8.81666077e-01 -4.48603400e-01 -1.46355454e-01 2.96181549e+02] [ 4.42126484e-01 8.93728005e-01 -7.59896427e-02 5.90430691e+01] [ 1.64891180e-01 2.28986768e-03 9.86309107e-01 3.22694272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46863999999994 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:296.23, Y:59.07, Z:32.28 [[ 8.81015309e-01 -4.49883464e-01 -1.46345118e-01 2.96232488e+02] [ 4.43420769e-01 8.93084862e-01 -7.60095432e-02 5.90699172e+01] [ 1.64894046e-01 2.07310634e-03 9.86309108e-01 3.22791900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52863999999994 meters Centerline goodness : 0.987213 with order 1 Centerline is valid? [True, True] Translation: X:296.28, Y:59.09, Z:32.31 [[ 8.77435304e-01 -4.56831363e-01 -1.46329740e-01 2.96282625e+02] [ 4.50459310e-01 8.89552955e-01 -7.60391369e-02 5.90905615e+01] [ 1.64905115e-01 8.03829359e-04 9.86309108e-01 3.23119014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58863999999994 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:296.34, Y:59.12, Z:32.30 [[ 8.76616148e-01 -4.58404540e-01 -1.46319538e-01 2.96338830e+02] [ 4.52050957e-01 8.88743493e-01 -7.60587634e-02 5.91169246e+01] [ 1.64906220e-01 5.30452832e-04 9.86309108e-01 3.22988480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64863999999994 meters Centerline goodness : 0.984789 with order 1 Centerline is valid? [True, True] Translation: X:296.39, Y:59.14, Z:32.33 [[ 8.74365514e-01 -4.62686271e-01 -1.46309131e-01 2.96388831e+02] [ 4.56388726e-01 8.86522053e-01 -7.60787774e-02 5.91372232e+01] [ 1.64906877e-01 -2.53178741e-04 9.86309109e-01 3.23331843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70863999999995 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:296.45, Y:59.16, Z:32.32 [[ 8.76128440e-01 -4.59342533e-01 -1.46298990e-01 2.96445108e+02] [ 4.52995336e-01 8.88259128e-01 -7.60982733e-02 5.91641518e+01] [ 1.64906587e-01 3.99101114e-04 9.86309109e-01 3.23185267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76863999999995 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:296.50, Y:59.19, Z:32.33 [[ 8.77298516e-01 -4.57107256e-01 -1.46288309e-01 2.96496547e+02] [ 4.50725729e-01 8.89411179e-01 -7.61188004e-02 5.91906831e+01] [ 1.64904914e-01 8.43005779e-04 9.86309109e-01 3.23301012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82863999999995 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:296.55, Y:59.22, Z:32.34 [[ 8.79039735e-01 -4.53753097e-01 -1.46278063e-01 2.96546868e+02] [ 4.47322077e-01 8.91126192e-01 -7.61384864e-02 5.92192789e+01] [ 1.64900287e-01 1.49534799e-03 9.86309109e-01 3.23381956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88863999999995 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:296.60, Y:59.25, Z:32.35 [[ 8.80057558e-01 -4.51779121e-01 -1.46267975e-01 2.96597010e+02] [ 4.45317771e-01 8.92127829e-01 -7.61578611e-02 5.92475969e+01] [ 1.64896263e-01 1.88757265e-03 9.86309110e-01 3.23479177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94863999999995 meters Centerline goodness : 0.988449 with order 1 Centerline is valid? [True, True] Translation: X:296.64, Y:59.28, Z:32.38 [[ 8.80064834e-01 -4.51768203e-01 -1.46257919e-01 2.96640469e+02] [ 4.45303495e-01 8.92133306e-01 -7.61771679e-02 5.92813681e+01] [ 1.64895983e-01 1.91168391e-03 9.86309110e-01 3.23777719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00863999999996 meters Centerline goodness : 0.989053 with order 1 Centerline is valid? [True, True] Translation: X:296.69, Y:59.31, Z:32.39 [[ 8.78479990e-01 -4.54846437e-01 -1.46245089e-01 2.96691572e+02] [ 4.48419920e-01 8.90568842e-01 -7.62017926e-02 5.93091382e+01] [ 1.64901433e-01 1.36253905e-03 9.86309110e-01 3.23880875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06863999999996 meters Centerline goodness : 0.987640 with order 1 Centerline is valid? [True, True] Translation: X:296.74, Y:59.34, Z:32.40 [[ 8.74503580e-01 -4.62448804e-01 -1.46234717e-01 2.96740291e+02] [ 4.56124053e-01 8.86645985e-01 -7.62216901e-02 5.93408009e+01] [ 1.64907054e-01 -4.50312182e-05 9.86309110e-01 3.24003848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12863999999996 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:296.80, Y:59.37, Z:32.39 [[ 8.70085638e-01 -4.70711621e-01 -1.46224325e-01 2.96795556e+02] [ 4.64498821e-01 8.82285702e-01 -7.62416214e-02 5.93696889e+01] [ 1.64899449e-01 -1.58428692e-03 9.86309111e-01 3.23857940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:296.85, Y:59.40, Z:32.39 [[ 8.68232680e-01 -4.74123876e-01 -1.46214104e-01 2.96847332e+02] [ 4.67955721e-01 8.80455376e-01 -7.62612185e-02 5.93981360e+01] [ 1.64892258e-01 -2.20924440e-03 9.86309111e-01 3.23944674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24863999999997 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:296.90, Y:59.43, Z:32.40 [[ 8.67476114e-01 -4.75508225e-01 -1.46209164e-01 2.96900119e+02] [ 4.69357980e-01 8.79707832e-01 -7.62706885e-02 5.94253018e+01] [ 1.64888686e-01 -2.46143731e-03 9.86309111e-01 3.24048430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30863999999997 meters Centerline goodness : 0.991476 with order 1 Centerline is valid? [True, True] Translation: X:296.95, Y:59.45, Z:32.44 [[ 8.67484008e-01 -4.75493823e-01 -1.46209164e-01 2.96950611e+02] [ 4.69343374e-01 8.79715624e-01 -7.62706885e-02 5.94543842e+01] [ 1.64888727e-01 -2.45869976e-03 9.86309111e-01 3.24356659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36863999999997 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:297.01, Y:59.48, Z:32.42 [[ 8.65011687e-01 -4.79966327e-01 -1.46243313e-01 2.97008883e+02] [ 4.73890184e-01 8.77280381e-01 -7.62051556e-02 5.94763942e+01] [ 1.64872298e-01 -3.38492010e-03 9.86309114e-01 3.24242082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42864 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:297.06, Y:59.50, Z:32.43 [[ 8.61677681e-01 -4.85929383e-01 -1.46233404e-01 2.97064152e+02] [ 4.79934901e-01 8.73986480e-01 -7.62241645e-02 5.94962227e+01] [ 1.64845580e-01 -4.50185312e-03 9.86309114e-01 3.24347363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48864 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:297.12, Y:59.51, Z:32.45 [[ 8.62580004e-01 -4.84328010e-01 -1.46226246e-01 2.97119381e+02] [ 4.78308349e-01 8.74876510e-01 -7.62378939e-02 5.95133376e+01] [ 1.64854055e-01 -4.17995153e-03 9.86309114e-01 3.24484623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54864 meters Centerline goodness : 0.998582 with order 1 Centerline is valid? [True, True] Translation: X:297.17, Y:59.54, Z:32.46 [[ 8.64660840e-01 -4.80606161e-01 -1.46216790e-01 2.97172510e+02] [ 4.74530499e-01 8.76929771e-01 -7.62560263e-02 5.95368637e+01] [ 1.64870972e-01 -3.44872651e-03 9.86309114e-01 3.24582774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60864 meters Centerline goodness : 0.997849 with order 1 Centerline is valid? [True, True] Translation: X:297.23, Y:59.56, Z:32.47 [[ 8.66698115e-01 -4.76925401e-01 -1.46207182e-01 2.97228217e+02] [ 4.70794522e-01 8.78939547e-01 -7.62744421e-02 5.95551402e+01] [ 1.64884494e-01 -2.72662538e-03 9.86309114e-01 3.24684859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66864 meters Centerline goodness : 0.997846 with order 1 Centerline is valid? [True, True] Translation: X:297.28, Y:59.58, Z:32.48 [[ 8.67020122e-01 -4.76342757e-01 -1.46197418e-01 2.97279543e+02] [ 4.70200498e-01 8.79255848e-01 -7.62931538e-02 5.95826838e+01] [ 1.64886626e-01 -2.59439912e-03 9.86309115e-01 3.24779872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72864 meters Centerline goodness : 0.997060 with order 1 Centerline is valid? [True, True] Translation: X:297.33, Y:59.61, Z:32.49 [[ 8.67559214e-01 -4.75363258e-01 -1.46187491e-01 2.97332351e+02] [ 4.69203980e-01 8.79786382e-01 -7.63121710e-02 5.96074711e+01] [ 1.64889766e-01 -2.38642524e-03 9.86309115e-01 3.24886466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78864 meters Centerline goodness : 0.998039 with order 1 Centerline is valid? [True, True] Translation: X:297.38, Y:59.64, Z:32.50 [[ 8.68631915e-01 -4.73403297e-01 -1.46177681e-01 2.97382140e+02] [ 4.67213267e-01 8.80843544e-01 -7.63309568e-02 5.96356204e+01] [ 1.64894993e-01 -1.99264668e-03 9.86309115e-01 3.24987438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84864 meters Centerline goodness : 0.997542 with order 1 Centerline is valid? [True, True] Translation: X:297.44, Y:59.66, Z:32.51 [[ 8.68559518e-01 -4.73540754e-01 -1.46162644e-01 2.97436394e+02] [ 4.67347814e-01 8.80769669e-01 -7.63597405e-02 5.96569074e+01] [ 1.64895072e-01 -1.98581268e-03 9.86309116e-01 3.25069332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90864 meters Centerline goodness : 0.993633 with order 1 Centerline is valid? [True, True] Translation: X:297.49, Y:59.68, Z:32.53 [[ 8.68079322e-01 -4.74423571e-01 -1.46152544e-01 2.97487680e+02] [ 4.68239795e-01 8.80294117e-01 -7.63790666e-02 5.96798138e+01] [ 1.64893254e-01 -2.13134892e-03 9.86309116e-01 3.25304643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96863999999994 meters Centerline goodness : 0.996819 with order 1 Centerline is valid? [True, True] Translation: X:297.54, Y:59.70, Z:32.53 [[ 8.69996073e-01 -4.70902558e-01 -1.46142442e-01 2.97542866e+02] [ 4.64666097e-01 8.82184053e-01 -7.63983914e-02 5.97036584e+01] [ 1.64900729e-01 -1.44113751e-03 9.86309116e-01 3.25259685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02863999999994 meters Centerline goodness : 0.991276 with order 1 Centerline is valid? [True, True] Translation: X:297.59, Y:59.73, Z:32.55 [[ 8.70476001e-01 -4.70017904e-01 -1.46132476e-01 2.97593614e+02] [ 4.63765858e-01 8.82655994e-01 -7.64174482e-02 5.97268483e+01] [ 1.64902275e-01 -1.25169847e-03 9.86309116e-01 3.25508619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08863999999994 meters Centerline goodness : 0.991808 with order 1 Centerline is valid? [True, True] Translation: X:297.65, Y:59.75, Z:32.56 [[ 8.71907409e-01 -4.67360381e-01 -1.46122359e-01 2.97646536e+02] [ 4.61067968e-01 8.84066596e-01 -7.64367887e-02 5.97513122e+01] [ 1.64905423e-01 -7.26536736e-04 9.86309117e-01 3.25606299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14863999999994 meters Centerline goodness : 0.996279 with order 1 Centerline is valid? [True, True] Translation: X:297.70, Y:59.78, Z:32.55 [[ 8.73518781e-01 -4.64344856e-01 -1.46112265e-01 2.97699461e+02] [ 4.58007239e-01 8.85654468e-01 -7.64560799e-02 5.97809625e+01] [ 1.64906968e-01 -1.34653329e-04 9.86309117e-01 3.25533963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20863999999995 meters Centerline goodness : 0.995247 with order 1 Centerline is valid? [True, True] Translation: X:297.75, Y:59.81, Z:32.56 [[ 8.74795086e-01 -4.61947230e-01 -1.46076397e-01 2.97749890e+02] [ 4.55564917e-01 8.86907323e-01 -7.65245493e-02 5.98097603e+01] [ 1.64906529e-01 3.96018185e-04 9.86309120e-01 3.25636296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26863999999995 meters Centerline goodness : 0.996375 with order 1 Centerline is valid? [True, True] Translation: X:297.80, Y:59.84, Z:32.57 [[ 8.75762221e-01 -4.60122538e-01 -1.46040344e-01 2.97799771e+02] [ 4.53703524e-01 8.87855045e-01 -7.65932913e-02 5.98390186e+01] [ 1.64904956e-01 8.18492156e-04 9.86309123e-01 3.25728103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32863999999995 meters Centerline goodness : 0.996031 with order 1 Centerline is valid? [True, True] Translation: X:297.85, Y:59.87, Z:32.58 [[ 8.74026117e-01 -4.63423224e-01 -1.46004321e-01 2.97849421e+02] [ 4.57038415e-01 8.86137032e-01 -7.66619001e-02 5.98690688e+01] [ 1.64906740e-01 2.74919536e-04 9.86309126e-01 3.25823976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38863999999995 meters Centerline goodness : 0.995545 with order 1 Centerline is valid? [True, True] Translation: X:297.90, Y:59.89, Z:32.59 [[ 8.71468062e-01 -4.68227295e-01 -1.45967864e-01 2.97901464e+02] [ 4.61897630e-01 8.83607885e-01 -7.67312527e-02 5.98943464e+01] [ 1.64906023e-01 -5.53374550e-04 9.86309129e-01 3.25906518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44863999999995 meters Centerline goodness : 0.995985 with order 1 Centerline is valid? [True, True] Translation: X:297.95, Y:59.92, Z:32.60 [[ 8.69361556e-01 -4.72130150e-01 -1.45957553e-01 2.97954439e+02] [ 4.65851690e-01 8.81527939e-01 -7.67508612e-02 5.99192160e+01] [ 1.64902057e-01 -1.27032494e-03 9.86309129e-01 3.25996129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50863999999996 meters Centerline goodness : 0.995835 with order 1 Centerline is valid? [True, True] Translation: X:298.01, Y:59.95, Z:32.61 [[ 8.69245358e-01 -4.72355099e-01 -1.45921787e-01 2.98006242e+02] [ 4.66068382e-01 8.81407474e-01 -7.68188020e-02 5.99452989e+01] [ 1.64902307e-01 -1.23514432e-03 9.86309132e-01 3.26109616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56863999999996 meters Centerline goodness : 0.993880 with order 1 Centerline is valid? [True, True] Translation: X:298.06, Y:59.97, Z:32.63 [[ 8.69578940e-01 -4.71743858e-01 -1.45911617e-01 2.98056939e+02] [ 4.65445352e-01 8.81734954e-01 -7.68381147e-02 5.99677851e+01] [ 1.64903282e-01 -1.09707772e-03 9.86309132e-01 3.26338628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62863999999996 meters Centerline goodness : 0.996082 with order 1 Centerline is valid? [True, True] Translation: X:298.11, Y:59.99, Z:32.63 [[ 8.72157917e-01 -4.66964583e-01 -1.45892583e-01 2.98112177e+02] [ 4.60593417e-01 8.84276006e-01 -7.68742390e-02 5.99930052e+01] [ 1.64906857e-01 -1.50686970e-04 9.86309133e-01 3.26286575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68863999999996 meters Centerline goodness : 0.995885 with order 1 Centerline is valid? [True, True] Translation: X:298.16, Y:60.02, Z:32.64 [[ 8.76118982e-01 -4.59501384e-01 -1.45856119e-01 2.98161950e+02] [ 4.53015483e-01 8.88176048e-01 -7.69433618e-02 6.00214991e+01] [ 1.64901492e-01 1.33645972e-03 9.86309136e-01 3.26416847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74863999999997 meters Centerline goodness : 0.996132 with order 1 Centerline is valid? [True, True] Translation: X:298.21, Y:60.05, Z:32.65 [[ 8.77242393e-01 -4.57364535e-01 -1.45819976e-01 2.98212408e+02] [ 4.50837888e-01 8.89277449e-01 -7.70117981e-02 6.00491129e+01] [ 1.64896882e-01 1.81684389e-03 9.86309139e-01 3.26518665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80863999999997 meters Centerline goodness : 0.996219 with order 1 Centerline is valid? [True, True] Translation: X:298.26, Y:60.08, Z:32.66 [[ 8.78155105e-01 -4.55622972e-01 -1.45778320e-01 2.98262371e+02] [ 4.49059383e-01 8.90170048e-01 -7.70905711e-02 6.00778568e+01] [ 1.64891729e-01 2.23435605e-03 9.86309143e-01 3.26612906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86863999999997 meters Centerline goodness : 0.995779 with order 1 Centerline is valid? [True, True] Translation: X:298.32, Y:60.10, Z:32.67 [[ 8.75883720e-01 -4.59985934e-01 -1.45741723e-01 2.98315220e+02] [ 4.53470694e-01 8.87924946e-01 -7.71596980e-02 6.01029446e+01] [ 1.64900087e-01 1.49332294e-03 9.86309146e-01 3.26703054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92864 meters Centerline goodness : 0.996516 with order 1 Centerline is valid? [True, True] Translation: X:298.37, Y:60.13, Z:32.68 [[ 8.73849510e-01 -4.63850295e-01 -1.45704968e-01 2.98368034e+02] [ 4.57376742e-01 8.85913196e-01 -7.72290430e-02 6.01253996e+01] [ 1.64904668e-01 8.44497642e-04 9.86309149e-01 3.26791576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98864 meters Centerline goodness : 0.996413 with order 1 Centerline is valid? [True, True] Translation: X:298.42, Y:60.14, Z:32.69 [[ 8.70740522e-01 -4.69673539e-01 -1.45663001e-01 2.98423294e+02] [ 4.63267434e-01 8.82840155e-01 -7.73081194e-02 6.01429849e+01] [ 1.64906724e-01 -1.65612297e-04 9.86309153e-01 3.26884126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04864 meters Centerline goodness : 0.996130 with order 1 Centerline is valid? [True, True] Translation: X:298.48, Y:60.17, Z:32.70 [[ 8.72194013e-01 -4.66981893e-01 -1.45621136e-01 2.98476735e+02] [ 4.60525293e-01 8.84266771e-01 -7.73868980e-02 6.01661315e+01] [ 1.64906212e-01 4.34172671e-04 9.86309157e-01 3.26974712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10864 meters Centerline goodness : 0.997006 with order 1 Centerline is valid? [True, True] Translation: X:298.53, Y:60.19, Z:32.71 [[ 8.74515367e-01 -4.62631628e-01 -1.45584508e-01 2.98530157e+02] [ 4.56103510e-01 8.86549601e-01 -7.74557455e-02 6.01883912e+01] [ 1.64901365e-01 1.33463468e-03 9.86309160e-01 3.27078544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16864 meters Centerline goodness : 0.997355 with order 1 Centerline is valid? [True, True] Translation: X:298.58, Y:60.21, Z:32.72 [[ 8.75257377e-01 -4.61237733e-01 -1.45548201e-01 2.98581767e+02] [ 4.54679114e-01 8.87275012e-01 -7.75239105e-02 6.02140920e+01] [ 1.64898235e-01 1.67564724e-03 9.86309163e-01 3.27173561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22864 meters Centerline goodness : 0.991969 with order 1 Centerline is valid? [True, True] Translation: X:298.63, Y:60.24, Z:32.74 [[ 8.73792758e-01 -4.64019746e-01 -1.45505638e-01 2.98631155e+02] [ 4.57486100e-01 8.85823984e-01 -7.76037176e-02 6.02383028e+01] [ 1.64902041e-01 1.24275957e-03 9.86309167e-01 3.27442849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28864 meters Centerline goodness : 0.991872 with order 1 Centerline is valid? [True, True] Translation: X:298.68, Y:60.27, Z:32.76 [[ 8.72893294e-01 -4.65721190e-01 -1.45468449e-01 2.98682158e+02] [ 4.59199388e-01 8.84930941e-01 -7.76733673e-02 6.02653315e+01] [ 1.64903664e-01 1.00153878e-03 9.86309170e-01 3.27562794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34864 meters Centerline goodness : 0.994274 with order 1 Centerline is valid? [True, True] Translation: X:298.73, Y:60.29, Z:32.76 [[ 8.72878032e-01 -4.65761366e-01 -1.45431399e-01 2.98734721e+02] [ 4.59228570e-01 8.84909711e-01 -7.77426773e-02 6.02917191e+01] [ 1.64903193e-01 1.07362203e-03 9.86309173e-01 3.27649255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:298.79, Y:60.32, Z:32.76 [[ 8.73409092e-01 -4.64766426e-01 -1.45426021e-01 2.98788769e+02] [ 4.58218249e-01 8.85432408e-01 -7.77527348e-02 6.03207946e+01] [ 1.64901773e-01 1.27308862e-03 9.86309173e-01 3.27552065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:298.84, Y:60.34, Z:32.77 [[ 8.74214289e-01 -4.63261452e-01 -1.45389835e-01 2.98842165e+02] [ 4.56681333e-01 8.86220150e-01 -7.78203425e-02 6.03431160e+01] [ 1.64898566e-01 1.63483194e-03 9.86309176e-01 3.27664980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52863999999994 meters Centerline goodness : 0.994208 with order 1 Centerline is valid? [True, True] Translation: X:298.89, Y:60.37, Z:32.80 [[ 8.73604773e-01 -4.64421461e-01 -1.45352702e-01 2.98891026e+02] [ 4.57845754e-01 8.85613047e-01 -7.78896387e-02 6.03685340e+01] [ 1.64899869e-01 1.49564286e-03 9.86309179e-01 3.27952315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:298.95, Y:60.40, Z:32.79 [[ 8.75923907e-01 -4.60044312e-01 -1.45315312e-01 2.98945084e+02] [ 4.53397040e-01 8.87892711e-01 -7.79593339e-02 6.03966744e+01] [ 1.64889154e-01 2.40091199e-03 9.86309182e-01 3.27850795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64863999999994 meters Centerline goodness : 0.993733 with order 1 Centerline is valid? [True, True] Translation: X:298.99, Y:60.42, Z:32.82 [[ 8.74298494e-01 -4.63137789e-01 -1.45277432e-01 2.98993501e+02] [ 4.56521149e-01 8.86284255e-01 -7.80298610e-02 6.04244286e+01] [ 1.64895678e-01 1.89916982e-03 9.86309185e-01 3.28155494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:299.05, Y:60.45, Z:32.80 [[ 8.73226573e-01 -4.65156525e-01 -1.45274772e-01 2.99048869e+02] [ 4.58566770e-01 8.85227138e-01 -7.80348134e-02 6.04527540e+01] [ 1.64899573e-01 1.52388998e-03 9.86309185e-01 3.28047812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:299.10, Y:60.48, Z:32.81 [[ 8.69790996e-01 -4.71551108e-01 -1.45269322e-01 2.99102504e+02] [ 4.65047888e-01 8.81838674e-01 -7.80449576e-02 6.04751422e+01] [ 1.64906292e-01 3.25610282e-04 9.86309185e-01 3.28124611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82863999999995 meters Centerline goodness : 0.997497 with order 1 Centerline is valid? [True, True] Translation: X:299.15, Y:60.50, Z:32.84 [[ 8.68602944e-01 -4.73740046e-01 -1.45255960e-01 2.99151112e+02] [ 4.67263029e-01 8.80664729e-01 -7.80698185e-02 6.05013461e+01] [ 1.64906600e-01 -6.10656273e-05 9.86309186e-01 3.28410464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88863999999995 meters Centerline goodness : 0.995883 with order 1 Centerline is valid? [True, True] Translation: X:299.20, Y:60.53, Z:32.85 [[ 8.73020082e-01 -4.65560649e-01 -1.45221276e-01 2.99201391e+02] [ 4.58959902e-01 8.85014600e-01 -7.81342826e-02 6.05297545e+01] [ 1.64899197e-01 1.56205492e-03 9.86309188e-01 3.28520921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94863999999995 meters Centerline goodness : 0.995484 with order 1 Centerline is valid? [True, True] Translation: X:299.25, Y:60.56, Z:32.86 [[ 8.75433902e-01 -4.61017512e-01 -1.45183801e-01 2.99251405e+02] [ 4.54342986e-01 8.87387519e-01 -7.82038553e-02 6.05584639e+01] [ 1.64887640e-01 2.49906444e-03 9.86309191e-01 3.28614545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00863999999996 meters Centerline goodness : 0.994742 with order 1 Centerline is valid? [True, True] Translation: X:299.30, Y:60.59, Z:32.87 [[ 8.77264063e-01 -4.57537174e-01 -1.45146470e-01 2.99299712e+02] [ 4.50803778e-01 8.89184614e-01 -7.82730825e-02 6.05911724e+01] [ 1.64874853e-01 3.23358550e-03 9.86309194e-01 3.28717186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06863999999996 meters Centerline goodness : 0.997501 with order 1 Centerline is valid? [True, True] Translation: X:299.35, Y:60.63, Z:32.88 [[ 8.77945006e-01 -4.56241262e-01 -1.45108504e-01 2.99348327e+02] [ 4.49478653e-01 8.89849005e-01 -7.83434046e-02 6.06254179e+01] [ 1.64868152e-01 3.55802600e-03 9.86309197e-01 3.28777980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12863999999996 meters Centerline goodness : 0.996323 with order 1 Centerline is valid? [True, True] Translation: X:299.40, Y:60.66, Z:32.89 [[ 8.77849258e-01 -4.56428060e-01 -1.45100331e-01 2.99396223e+02] [ 4.49665484e-01 8.89753276e-01 -7.83585384e-02 6.06574934e+01] [ 1.64868531e-01 3.54037410e-03 9.86309198e-01 3.28885372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18863999999996 meters Centerline goodness : 0.995445 with order 1 Centerline is valid? [True, True] Translation: X:299.44, Y:60.69, Z:32.90 [[ 8.76685096e-01 -4.58673629e-01 -1.45057731e-01 2.99444541e+02] [ 4.51928515e-01 8.88599012e-01 -7.84373230e-02 6.06905701e+01] [ 1.64875288e-01 3.20910724e-03 9.86309202e-01 3.28974198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24863999999997 meters Centerline goodness : 0.995624 with order 1 Centerline is valid? [True, True] Translation: X:299.50, Y:60.72, Z:32.91 [[ 8.72973621e-01 -4.65710491e-01 -1.45019981e-01 2.99496178e+02] [ 4.59049842e-01 8.84934961e-01 -7.85070565e-02 6.07171819e+01] [ 1.64894811e-01 1.96319015e-03 9.86309205e-01 3.29078580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:299.55, Y:60.74, Z:32.90 [[ 8.69757848e-01 -4.71700723e-01 -1.44981768e-01 2.99551629e+02] [ 4.65110706e-01 8.81758242e-01 -7.85775634e-02 6.07424579e+01] [ 1.64903962e-01 9.10880102e-04 9.86309208e-01 3.28978943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.60, Y:60.77, Z:32.91 [[ 8.69282486e-01 -4.72589622e-01 -1.44937947e-01 2.99604168e+02] [ 4.65998410e-01 8.81282220e-01 -7.86583106e-02 6.07654342e+01] [ 1.64904337e-01 8.35438962e-04 9.86309212e-01 3.29098567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:299.66, Y:60.79, Z:32.92 [[ 8.69276184e-01 -4.72605307e-01 -1.44924597e-01 2.99656236e+02] [ 4.66010213e-01 8.81273784e-01 -7.86829001e-02 6.07898493e+01] [ 1.64904204e-01 8.60828979e-04 9.86309212e-01 3.29193558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.71, Y:60.81, Z:32.93 [[ 8.69902246e-01 -4.71465155e-01 -1.44881640e-01 2.99709834e+02] [ 4.64841175e-01 8.81883917e-01 -7.87619195e-02 6.08113695e+01] [ 1.64902289e-01 1.16821882e-03 9.86309216e-01 3.29287939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:299.76, Y:60.84, Z:32.94 [[ 8.68600836e-01 -4.73871577e-01 -1.44838930e-01 2.99761415e+02] [ 4.67267706e-01 8.80593598e-01 -7.88403845e-02 6.08364148e+01] [ 1.64904452e-01 8.02269364e-04 9.86309220e-01 3.29395433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60864 meters Centerline goodness : 0.998089 with order 1 Centerline is valid? [True, True] Translation: X:299.81, Y:60.86, Z:32.97 [[ 8.67202289e-01 -4.76439312e-01 -1.44795624e-01 2.99812211e+02] [ 4.69857682e-01 8.79207266e-01 -7.89198397e-02 6.08593549e+01] [ 1.64905879e-01 4.06129234e-04 9.86309224e-01 3.29651036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:299.87, Y:60.89, Z:32.96 [[ 8.67306801e-01 -4.76260598e-01 -1.44757576e-01 2.99865885e+02] [ 4.69664855e-01 8.79304027e-01 -7.89895679e-02 6.08882646e+01] [ 1.64905539e-01 5.20643196e-04 9.86309227e-01 3.29570119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:299.92, Y:60.91, Z:32.97 [[ 8.67736530e-01 -4.75488778e-01 -1.44719511e-01 2.99918006e+02] [ 4.68870742e-01 8.79721469e-01 -7.90592478e-02 6.09134059e+01] [ 1.64904646e-01 7.47852627e-04 9.86309231e-01 3.29661005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78864 meters Centerline goodness : 0.998824 with order 1 Centerline is valid? [True, True] Translation: X:299.97, Y:60.94, Z:32.99 [[ 8.67776931e-01 -4.75426454e-01 -1.44682012e-01 2.99966547e+02] [ 4.68796124e-01 8.79755070e-01 -7.91278142e-02 6.09400498e+01] [ 1.64904190e-01 8.38925126e-04 9.86309234e-01 3.29939565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:300.02, Y:60.97, Z:32.99 [[ 8.67493035e-01 -4.75955718e-01 -1.44644353e-01 3.00020265e+02] [ 4.69321227e-01 8.79468866e-01 -7.91965962e-02 6.09690083e+01] [ 1.64904278e-01 8.17830374e-04 9.86309237e-01 3.29855820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.07, Y:61.00, Z:32.99 [[ 8.66035951e-01 -4.78613410e-01 -1.44606139e-01 3.00072271e+02] [ 4.72004028e-01 8.78025654e-01 -7.92663111e-02 6.09960221e+01] [ 1.64905819e-01 3.92795030e-04 9.86309240e-01 3.29937729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96863999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:300.12, Y:61.02, Z:33.02 [[ 8.65103922e-01 -4.80307369e-01 -1.44568446e-01 3.00121422e+02] [ 4.73709984e-01 8.77100227e-01 -7.93349989e-02 6.10219185e+01] [ 1.64906201e-01 1.49502517e-04 9.86309243e-01 3.30206162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02863999999994 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:300.17, Y:61.05, Z:33.03 [[ 8.65729882e-01 -4.79180615e-01 -1.44560402e-01 3.00172271e+02] [ 4.72565170e-01 8.77716237e-01 -7.93496540e-02 6.10494861e+01] [ 1.64905828e-01 3.81155891e-04 9.86309243e-01 3.30316509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:300.22, Y:61.08, Z:33.02 [[ 8.68604308e-01 -4.73961799e-01 -1.44522556e-01 3.00223660e+02] [ 4.67262877e-01 8.80544207e-01 -7.94185252e-02 6.10833326e+01] [ 1.64899847e-01 1.45324783e-03 9.86309246e-01 3.30245104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14863999999994 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:300.27, Y:61.11, Z:33.05 [[ 8.69223244e-01 -4.72836350e-01 -1.44487851e-01 3.00269244e+02] [ 4.66111482e-01 8.81148546e-01 -7.94816146e-02 6.11143181e+01] [ 1.64897057e-01 1.73982034e-03 9.86309249e-01 3.30525971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20863999999995 meters Centerline goodness : 0.997504 with order 1 Centerline is valid? [True, True] Translation: X:300.32, Y:61.15, Z:33.06 [[ 8.69968164e-01 -4.71475924e-01 -1.44450152e-01 3.00317072e+02] [ 4.64721043e-01 8.81876487e-01 -7.95500711e-02 6.11476801e+01] [ 1.64893136e-01 2.07700392e-03 9.86309252e-01 3.30627719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.37, Y:61.19, Z:33.05 [[ 8.72164474e-01 -4.67412220e-01 -1.44412421e-01 3.00365758e+02] [ 4.60590528e-01 8.84034648e-01 -7.96185097e-02 6.11854143e+01] [ 1.64880248e-01 2.92544250e-03 9.86309255e-01 3.30520784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.41, Y:61.22, Z:33.06 [[ 8.73029164e-01 -4.65799362e-01 -1.44398871e-01 3.00410736e+02] [ 4.58951680e-01 8.84884363e-01 -7.96430776e-02 6.12230533e+01] [ 1.64873997e-01 3.25862524e-03 9.86309255e-01 3.30614140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.46, Y:61.26, Z:33.07 [[ 8.72120515e-01 -4.67510029e-01 -1.44361287e-01 3.00458693e+02] [ 4.60674338e-01 8.83982629e-01 -7.97111447e-02 6.12561413e+01] [ 1.64878629e-01 3.01418434e-03 9.86309258e-01 3.30694679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:300.50, Y:61.29, Z:33.08 [[ 8.68926475e-01 -4.73431622e-01 -1.44323528e-01 3.00503509e+02] [ 4.66665434e-01 8.80828367e-01 -7.97794534e-02 6.12939215e+01] [ 1.64894373e-01 1.97167756e-03 9.86309261e-01 3.30789945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50863999999996 meters Centerline goodness : 0.998525 with order 1 Centerline is valid? [True, True] Translation: X:300.55, Y:61.32, Z:33.11 [[ 8.65514207e-01 -4.79654594e-01 -1.44279686e-01 3.00550281e+02] [ 4.72960778e-01 8.77456948e-01 -7.98586629e-02 6.13241787e+01] [ 1.64903787e-01 8.80174712e-04 9.86309265e-01 3.31070544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.60, Y:61.36, Z:33.10 [[ 8.63937116e-01 -4.82491022e-01 -1.44274297e-01 3.00600804e+02] [ 4.75834791e-01 8.75900845e-01 -7.98683968e-02 6.13584702e+01] [ 1.64905763e-01 3.50542151e-04 9.86309265e-01 3.30986635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.65, Y:61.39, Z:33.11 [[ 8.63183830e-01 -4.83840596e-01 -1.44263483e-01 3.00649693e+02] [ 4.77199807e-01 8.75156137e-01 -7.98879259e-02 6.13903058e+01] [ 1.64906094e-01 1.15459677e-04 9.86309265e-01 3.31096859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:300.70, Y:61.42, Z:33.12 [[ 8.62107395e-01 -4.85759149e-01 -1.44252864e-01 3.00698637e+02] [ 4.79141795e-01 8.74092670e-01 -7.99070963e-02 6.14217552e+01] [ 1.64905974e-01 -2.29077460e-04 9.86309266e-01 3.31187526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74863999999997 meters Centerline goodness : 0.998433 with order 1 Centerline is valid? [True, True] Translation: X:300.75, Y:61.45, Z:33.14 [[ 8.59216093e-01 -4.90858320e-01 -1.44242207e-01 3.00749442e+02] [ 4.84308862e-01 8.71238606e-01 -7.99263283e-02 6.14463581e+01] [ 1.64901883e-01 -1.18379165e-03 9.86309266e-01 3.31440538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.80, Y:61.47, Z:33.14 [[ 8.56732821e-01 -4.95180598e-01 -1.44239551e-01 3.00804236e+02] [ 4.88690982e-01 8.68787741e-01 -7.99311209e-02 6.14741200e+01] [ 1.64893894e-01 -2.00895336e-03 9.86309266e-01 3.31388044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:300.86, Y:61.50, Z:33.15 [[ 8.52838355e-01 -5.01859752e-01 -1.44234289e-01 3.00857443e+02] [ 4.95462924e-01 8.64942766e-01 -7.99406163e-02 6.14980922e+01] [ 1.64873382e-01 -3.28631863e-03 9.86309266e-01 3.31491639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.91, Y:61.52, Z:33.16 [[ 8.50330680e-01 -5.06099987e-01 -1.44223914e-01 3.00913405e+02] [ 4.99760336e-01 8.62465137e-01 -7.99593288e-02 6.15172045e+01] [ 1.64855513e-01 -4.08552141e-03 9.86309266e-01 3.31580561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:300.97, Y:61.54, Z:33.17 [[ 8.49768747e-01 -5.07045813e-01 -1.44213800e-01 3.00968140e+02] [ 5.00716576e-01 8.61908638e-01 -7.99775668e-02 6.15365298e+01] [ 1.64851410e-01 -4.24780333e-03 9.86309266e-01 3.31700218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:301.02, Y:61.55, Z:33.18 [[ 8.48178134e-01 -5.09704959e-01 -1.44203700e-01 3.01024685e+02] [ 5.03410685e-01 8.60336189e-01 -7.99957735e-02 6.15548777e+01] [ 1.64837904e-01 -4.74301754e-03 9.86309266e-01 3.31794375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:301.08, Y:61.57, Z:33.19 [[ 8.49829949e-01 -5.06948976e-01 -1.44193596e-01 3.01079485e+02] [ 5.00612182e-01 8.61965896e-01 -8.00139821e-02 6.15749825e+01] [ 1.64852968e-01 -4.18679230e-03 9.86309267e-01 3.31893238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:301.13, Y:61.60, Z:33.20 [[ 8.52757697e-01 -5.02011381e-01 -1.44183508e-01 3.01133698e+02] [ 4.95601232e-01 8.64855059e-01 -8.00321563e-02 6.15962580e+01] [ 1.64874890e-01 -3.20948694e-03 9.86309267e-01 3.32008835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:301.19, Y:61.62, Z:33.21 [[ 8.54668082e-01 -4.98762417e-01 -1.44147567e-01 3.01187231e+02] [ 4.92295369e-01 8.66735119e-01 -8.00968396e-02 6.16182586e+01] [ 1.64887052e-01 -2.50696723e-03 9.86309270e-01 3.32110719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28864 meters Centerline goodness : 0.997160 with order 1 Centerline is valid? [True, True] Translation: X:301.24, Y:61.64, Z:33.24 [[ 8.57842347e-01 -4.93293548e-01 -1.44111008e-01 3.01237183e+02] [ 4.86738519e-01 8.69861815e-01 -8.01625639e-02 6.16406938e+01] [ 1.64900338e-01 -1.37753645e-03 9.86309272e-01 3.32393273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.29, Y:61.67, Z:33.23 [[ 8.62041644e-01 -4.85928901e-01 -1.44073964e-01 3.01292436e+02] [ 4.79260058e-01 8.73998336e-01 -8.02290878e-02 6.16665002e+01] [ 1.64906037e-01 1.11918580e-04 9.86309275e-01 3.32316510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:301.34, Y:61.69, Z:33.24 [[ 8.62672827e-01 -4.84818878e-01 -1.44035584e-01 3.01344607e+02] [ 4.78123153e-01 8.74614482e-01 -8.02979327e-02 6.16909700e+01] [ 1.64905561e-01 4.04096907e-04 9.86309278e-01 3.32410368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46863999999994 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:301.40, Y:61.72, Z:33.25 [[ 8.61092583e-01 -4.87633037e-01 -1.43991613e-01 3.01397135e+02] [ 4.80963164e-01 8.73048693e-01 -8.03767059e-02 6.17170444e+01] [ 1.64906027e-01 -4.28766968e-05 9.86309282e-01 3.32499617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52863999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:301.45, Y:61.74, Z:33.26 [[ 8.60034050e-01 -4.89508064e-01 -1.43955857e-01 3.01448257e+02] [ 4.82853546e-01 8.71998709e-01 -8.04406968e-02 6.17440278e+01] [ 1.64905691e-01 -3.27857608e-04 9.86309285e-01 3.32608027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58863999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:301.50, Y:61.77, Z:33.27 [[ 8.59468565e-01 -4.90511505e-01 -1.43917507e-01 3.01501086e+02] [ 4.83859474e-01 8.71434604e-01 -8.05092506e-02 6.17695468e+01] [ 1.64905410e-01 -4.40679403e-04 9.86309288e-01 3.32699393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64863999999994 meters Centerline goodness : 0.996962 with order 1 Centerline is valid? [True, True] Translation: X:301.55, Y:61.79, Z:33.30 [[ 8.58246348e-01 -4.92658076e-01 -1.43879207e-01 3.01549734e+02] [ 4.86024508e-01 8.70222628e-01 -8.05776398e-02 6.17942626e+01] [ 1.64904167e-01 -7.73355943e-04 9.86309291e-01 3.33002852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70863999999995 meters Centerline goodness : 0.993093 with order 1 Centerline is valid? [True, True] Translation: X:301.60, Y:61.82, Z:33.32 [[ 8.56775268e-01 -4.95223012e-01 -1.43841261e-01 3.01601752e+02] [ 4.88613932e-01 8.68765076e-01 -8.06453229e-02 6.18216066e+01] [ 1.64901684e-01 -1.18792599e-03 9.86309294e-01 3.33165552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76863999999995 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:301.66, Y:61.85, Z:33.30 [[ 8.57466027e-01 -4.94026469e-01 -1.43839708e-01 3.01657181e+02] [ 4.87400193e-01 8.69446340e-01 -8.06480938e-02 6.18536915e+01] [ 1.64903200e-01 -9.54500606e-04 9.86309294e-01 3.32999253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82863999999995 meters Centerline goodness : 0.997114 with order 1 Centerline is valid? [True, True] Translation: X:301.70, Y:61.88, Z:33.33 [[ 8.56781289e-01 -4.95213080e-01 -1.43839593e-01 3.01704403e+02] [ 4.88603362e-01 8.68770745e-01 -8.06482981e-02 6.18824652e+01] [ 1.64901722e-01 -1.18255591e-03 9.86309294e-01 3.33287318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88863999999995 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:301.76, Y:61.91, Z:33.32 [[ 8.57234665e-01 -4.94433491e-01 -1.43820207e-01 3.01756991e+02] [ 4.87807072e-01 8.69214897e-01 -8.06828555e-02 6.19130411e+01] [ 1.64902972e-01 -9.92373211e-04 9.86309295e-01 3.33181522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94863999999995 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:301.81, Y:61.94, Z:33.33 [[ 8.56377383e-01 -4.95922768e-01 -1.43799814e-01 3.01808985e+02] [ 4.89311082e-01 8.68365752e-01 -8.07191840e-02 6.19392531e+01] [ 1.64901315e-01 -1.23675916e-03 9.86309296e-01 3.33278126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00863999999996 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:301.86, Y:61.97, Z:33.34 [[ 8.58921135e-01 -4.91515071e-01 -1.43761675e-01 3.01857328e+02] [ 4.84830500e-01 8.70869013e-01 -8.07870539e-02 6.19700814e+01] [ 1.64905643e-01 -3.10336997e-04 9.86309299e-01 3.33391096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06863999999996 meters Centerline goodness : 0.996570 with order 1 Centerline is valid? [True, True] Translation: X:301.90, Y:62.00, Z:33.37 [[ 8.61867311e-01 -4.86343398e-01 -1.43717909e-01 3.01904844e+02] [ 4.79574159e-01 8.73767420e-01 -8.08648391e-02 6.19963044e+01] [ 1.64904107e-01 7.71365949e-04 9.86309303e-01 3.33682872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12863999999996 meters Centerline goodness : 0.996861 with order 1 Centerline is valid? [True, True] Translation: X:301.95, Y:62.02, Z:33.38 [[ 8.61441363e-01 -4.87110323e-01 -1.43674323e-01 3.01954818e+02] [ 4.80338773e-01 8.73340153e-01 -8.09422063e-02 6.20249436e+01] [ 1.64904340e-01 7.14616364e-04 9.86309306e-01 3.33771553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18863999999996 meters Centerline goodness : 0.996809 with order 1 Centerline is valid? [True, True] Translation: X:302.01, Y:62.05, Z:33.39 [[ 8.61048737e-01 -4.87810127e-01 -1.43653585e-01 3.02007834e+02] [ 4.81042109e-01 8.72949535e-01 -8.09789964e-02 6.20499459e+01] [ 1.64904704e-01 6.23439283e-04 9.86309307e-01 3.33870065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24863999999997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:302.06, Y:62.08, Z:33.38 [[ 8.61554137e-01 -4.86927344e-01 -1.43618350e-01 3.02059874e+02] [ 4.80136723e-01 8.73442049e-01 -8.10414389e-02 6.20827380e+01] [ 1.64903598e-01 8.65143136e-04 9.86309310e-01 3.33775168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30863999999997 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:302.11, Y:62.11, Z:33.39 [[ 8.60752752e-01 -4.88353716e-01 -1.43580460e-01 3.02109509e+02] [ 4.81571604e-01 8.72645518e-01 -8.11085133e-02 6.21127241e+01] [ 1.64904489e-01 6.70103477e-04 9.86309313e-01 3.33881339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36863999999997 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:302.16, Y:62.15, Z:33.40 [[ 8.60590522e-01 -4.88650847e-01 -1.43541990e-01 3.02156743e+02] [ 4.81861494e-01 8.72479152e-01 -8.11765394e-02 6.21462636e+01] [ 1.64904379e-01 6.92402453e-04 9.86309316e-01 3.33955009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42864 meters Centerline goodness : 0.992502 with order 1 Centerline is valid? [True, True] Translation: X:302.20, Y:62.18, Z:33.43 [[ 8.58269340e-01 -4.92729246e-01 -1.43497839e-01 3.02201906e+02] [ 4.85983347e-01 8.70182676e-01 -8.12545132e-02 6.21770080e+01] [ 1.64905809e-01 6.97312171e-07 9.86309320e-01 3.34260446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48864 meters Centerline goodness : 0.997059 with order 1 Centerline is valid? [True, True] Translation: X:302.25, Y:62.21, Z:33.42 [[ 8.55102758e-01 -4.98215546e-01 -1.43459201e-01 3.02252868e+02] [ 4.91534643e-01 8.67052661e-01 -8.13226740e-02 6.22116955e+01] [ 1.64902903e-01 -9.75924525e-04 9.86309323e-01 3.34151200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54864 meters Centerline goodness : 0.991234 with order 1 Centerline is valid? [True, True] Translation: X:302.30, Y:62.24, Z:33.44 [[ 8.53437299e-01 -5.01074020e-01 -1.43421068e-01 3.02299493e+02] [ 4.94421848e-01 8.65403215e-01 -8.13898708e-02 6.22407817e+01] [ 1.64899404e-01 -1.44935821e-03 9.86309326e-01 3.34431691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60864 meters Centerline goodness : 0.996814 with order 1 Centerline is valid? [True, True] Translation: X:302.35, Y:62.27, Z:33.43 [[ 8.50930870e-01 -5.05329502e-01 -1.43383222e-01 3.02353196e+02] [ 4.98725941e-01 8.62923679e-01 -8.14564903e-02 6.22713938e+01] [ 1.64891145e-01 -2.19509028e-03 9.86309329e-01 3.34317347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66864 meters Centerline goodness : 0.990352 with order 1 Centerline is valid? [True, True] Translation: X:302.40, Y:62.30, Z:33.47 [[ 8.50362593e-01 -5.06295876e-01 -1.43345549e-01 3.02401336e+02] [ 4.99694778e-01 8.62356755e-01 -8.15227336e-02 6.22965847e+01] [ 1.64889626e-01 -2.30513933e-03 9.86309332e-01 3.34653274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72864 meters Centerline goodness : 0.993627 with order 1 Centerline is valid? [True, True] Translation: X:302.45, Y:62.32, Z:33.47 [[ 8.49694674e-01 -5.07426605e-01 -1.43308064e-01 3.02454985e+02] [ 5.00830365e-01 8.61691505e-01 -8.15885766e-02 6.23229220e+01] [ 1.64887556e-01 -2.44765086e-03 9.86309334e-01 3.34681940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78864 meters Centerline goodness : 0.995933 with order 1 Centerline is valid? [True, True] Translation: X:302.51, Y:62.35, Z:33.46 [[ 8.46440780e-01 -5.12839260e-01 -1.43296545e-01 3.02510658e+02] [ 5.06316299e-01 8.58477611e-01 -8.16088017e-02 6.23470438e+01] [ 1.64869073e-01 -3.47635884e-03 9.86309335e-01 3.34634028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84864 meters Centerline goodness : 0.996231 with order 1 Centerline is valid? [True, True] Translation: X:302.56, Y:62.37, Z:33.47 [[ 8.45368849e-01 -5.14614606e-01 -1.43259614e-01 3.02563968e+02] [ 5.08105950e-01 8.57413418e-01 -8.16735818e-02 6.23694775e+01] [ 1.64863134e-01 -3.74676056e-03 9.86309337e-01 3.34738611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90864 meters Centerline goodness : 0.991724 with order 1 Centerline is valid? [True, True] Translation: X:302.62, Y:62.39, Z:33.50 [[ 8.45070815e-01 -5.15114106e-01 -1.43222818e-01 3.02616787e+02] [ 5.08601649e-01 8.57113326e-01 -8.17380574e-02 6.23885650e+01] [ 1.64862612e-01 -3.76891473e-03 9.86309340e-01 3.35008944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96863999999994 meters Centerline goodness : 0.993189 with order 1 Centerline is valid? [True, True] Translation: X:302.67, Y:62.41, Z:33.51 [[ 8.45304945e-01 -5.14740085e-01 -1.43185874e-01 3.02671408e+02] [ 5.08211350e-01 8.57338636e-01 -8.18027248e-02 6.24112418e+01] [ 1.64865923e-01 -3.62043858e-03 9.86309343e-01 3.35062922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02863999999994 meters Centerline goodness : 0.989526 with order 1 Centerline is valid? [True, True] Translation: X:302.73, Y:62.43, Z:33.52 [[ 8.49344598e-01 -5.08057236e-01 -1.43148870e-01 3.02725459e+02] [ 5.01422892e-01 8.61320386e-01 -8.18674288e-02 6.24324343e+01] [ 1.64890380e-01 -2.24446206e-03 9.86309346e-01 3.35240833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08863999999994 meters Centerline goodness : 0.988790 with order 1 Centerline is valid? [True, True] Translation: X:302.78, Y:62.46, Z:33.53 [[ 8.54726162e-01 -4.98952031e-01 -1.43143488e-01 3.02777317e+02] [ 4.92188516e-01 8.66629476e-01 -8.18768380e-02 6.24591905e+01] [ 1.64904981e-01 -4.71305424e-04 9.86309346e-01 3.35334747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14863999999994 meters Centerline goodness : 0.986632 with order 1 Centerline is valid? [True, True] Translation: X:302.83, Y:62.49, Z:33.55 [[ 8.60497872e-01 -4.88942234e-01 -1.43104522e-01 3.02828556e+02] [ 4.82028934e-01 8.72314818e-01 -8.19448878e-02 6.24861634e+01] [ 1.64898511e-01 1.53288153e-03 9.86309349e-01 3.35460394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20863999999995 meters Centerline goodness : 0.995045 with order 1 Centerline is valid? [True, True] Translation: X:302.88, Y:62.52, Z:33.54 [[ 8.65897188e-01 -4.79326162e-01 -1.43068133e-01 3.02881904e+02] [ 4.72271169e-01 8.77630087e-01 -8.20083709e-02 6.25179440e+01] [ 1.64869656e-01 3.44386329e-03 9.86309351e-01 3.35369999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26863999999995 meters Centerline goodness : 0.994951 with order 1 Centerline is valid? [True, True] Translation: X:302.93, Y:62.55, Z:33.55 [[ 8.68522207e-01 -4.74553991e-01 -1.43065321e-01 3.02930204e+02] [ 4.67433733e-01 8.80215614e-01 -8.20132756e-02 6.25494456e+01] [ 1.64848057e-01 4.35679389e-03 9.86309351e-01 3.35466829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32863999999995 meters Centerline goodness : 0.995138 with order 1 Centerline is valid? [True, True] Translation: X:302.98, Y:62.59, Z:33.56 [[ 8.72838758e-01 -4.66580724e-01 -1.43020736e-01 3.02975000e+02] [ 4.59340975e-01 8.84458560e-01 -8.20909539e-02 6.25858207e+01] [ 1.64797971e-01 5.95688164e-03 9.86309355e-01 3.35578679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38863999999995 meters Centerline goodness : 0.994707 with order 1 Centerline is valid? [True, True] Translation: X:303.02, Y:62.62, Z:33.57 [[ 8.72692568e-01 -4.66867410e-01 -1.42977283e-01 3.03020531e+02] [ 4.59619110e-01 8.84307033e-01 -8.21665684e-02 6.26221517e+01] [ 1.64796710e-01 5.99106209e-03 9.86309359e-01 3.35672785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44863999999995 meters Centerline goodness : 0.995348 with order 1 Centerline is valid? [True, True] Translation: X:303.07, Y:62.66, Z:33.58 [[ 8.67873423e-01 -4.75769975e-01 -1.42963817e-01 3.03067951e+02] [ 4.68637006e-01 8.79559072e-01 -8.21899912e-02 6.26556517e+01] [ 1.64848652e-01 4.33237379e-03 9.86309359e-01 3.35753754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50863999999996 meters Centerline goodness : 0.995389 with order 1 Centerline is valid? [True, True] Translation: X:303.12, Y:62.69, Z:33.59 [[ 8.65888880e-01 -4.79383750e-01 -1.42925391e-01 3.03117576e+02] [ 4.72288543e-01 8.77597492e-01 -8.22567596e-02 6.26854943e+01] [ 1.64863519e-01 3.72318880e-03 9.86309362e-01 3.35850482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56863999999996 meters Centerline goodness : 0.990579 with order 1 Centerline is valid? [True, True] Translation: X:303.17, Y:62.71, Z:33.61 [[ 8.60904598e-01 -4.88289556e-01 -1.42886609e-01 3.03165022e+02] [ 4.81304325e-01 8.72679147e-01 -8.23240735e-02 6.27134586e+01] [ 1.64892149e-01 2.10123071e-03 9.86309365e-01 3.36116384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62863999999996 meters Centerline goodness : 0.992308 with order 1 Centerline is valid? [True, True] Translation: X:303.22, Y:62.74, Z:33.62 [[ 8.57611343e-01 -4.94054091e-01 -1.42875257e-01 3.03216001e+02] [ 4.87144727e-01 8.69430572e-01 -8.23437701e-02 6.27413704e+01] [ 1.64902393e-01 1.01802332e-03 9.86309366e-01 3.36210093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68863999999996 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:303.27, Y:62.77, Z:33.61 [[ 8.55653479e-01 -4.97448697e-01 -1.42835283e-01 3.03272839e+02] [ 4.90574656e-01 8.67493283e-01 -8.24130518e-02 6.27652574e+01] [ 1.64904914e-01 4.45644446e-04 9.86309369e-01 3.36118969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74863999999997 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:303.33, Y:62.79, Z:33.62 [[ 8.52362017e-01 -5.03078991e-01 -1.42795381e-01 3.03326541e+02] [ 4.96271582e-01 8.64240253e-01 -8.24821338e-02 6.27881242e+01] [ 1.64904544e-01 -5.60651454e-04 9.86309372e-01 3.36207351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80863999999997 meters Centerline goodness : 0.994111 with order 1 Centerline is valid? [True, True] Translation: X:303.38, Y:62.80, Z:33.65 [[ 8.48310295e-01 -5.09892613e-01 -1.42755617e-01 3.03380522e+02] [ 5.03169028e-01 8.60236176e-01 -8.25508976e-02 6.28044836e+01] [ 1.64895639e-01 -1.80142891e-03 9.86309375e-01 3.36523092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86863999999997 meters Centerline goodness : 0.991114 with order 1 Centerline is valid? [True, True] Translation: X:303.44, Y:62.83, Z:33.67 [[ 8.48354083e-01 -5.09821319e-01 -1.42750034e-01 3.03435215e+02] [ 5.03095108e-01 8.60278483e-01 -8.25605513e-02 6.28271739e+01] [ 1.64895912e-01 -1.77626291e-03 9.86309375e-01 3.36667653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:303.49, Y:62.85, Z:33.65 [[ 8.51175454e-01 -5.05097520e-01 -1.42747476e-01 3.03493378e+02] [ 4.98304385e-01 8.63061855e-01 -8.25649736e-02 6.28531779e+01] [ 1.64903265e-01 -8.54414433e-04 9.86309375e-01 3.36521910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:303.55, Y:62.88, Z:33.66 [[ 8.55144317e-01 -4.98349503e-01 -1.42744419e-01 3.03545377e+02] [ 4.91461685e-01 8.66976104e-01 -8.25702594e-02 6.28786258e+01] [ 1.64904848e-01 4.56075659e-04 9.86309375e-01 3.36627543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04864 meters Centerline goodness : 0.991906 with order 1 Centerline is valid? [True, True] Translation: X:303.60, Y:62.90, Z:33.69 [[ 8.55048081e-01 -4.98525887e-01 -1.42705005e-01 3.03596085e+02] [ 4.91629148e-01 8.66874667e-01 -8.26383222e-02 6.29011603e+01] [ 1.64904697e-01 5.01798776e-04 9.86309378e-01 3.36947806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10864 meters Centerline goodness : 0.992010 with order 1 Centerline is valid? [True, True] Translation: X:303.65, Y:62.93, Z:33.70 [[ 8.53602546e-01 -5.00997786e-01 -1.42702176e-01 3.03648767e+02] [ 4.94134479e-01 8.65448564e-01 -8.26432069e-02 6.29253289e+01] [ 1.64905457e-01 3.03863465e-05 9.86309378e-01 3.37043396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16864 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:303.71, Y:62.95, Z:33.69 [[ 8.53256565e-01 -5.01598252e-01 -1.42661935e-01 3.03705933e+02] [ 4.94731674e-01 8.65100684e-01 -8.27126156e-02 6.29520513e+01] [ 1.64905441e-01 -4.29563790e-06 9.86309381e-01 3.36948623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22864 meters Centerline goodness : 0.988737 with order 1 Centerline is valid? [True, True] Translation: X:303.75, Y:62.98, Z:33.73 [[ 8.55921703e-01 -4.97037661e-01 -1.42659039e-01 3.03754024e+02] [ 4.90107142e-01 8.67728521e-01 -8.27176106e-02 6.29786612e+01] [ 1.64903084e-01 8.81584388e-04 9.86309381e-01 3.37284279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28864 meters Centerline goodness : 0.999066 with order 1 Centerline is valid? [True, True] Translation: X:303.81, Y:63.01, Z:33.72 [[ 8.58167470e-01 -4.93151068e-01 -1.42655590e-01 3.03808510e+02] [ 4.86166089e-01 8.69942151e-01 -8.27235570e-02 6.30100989e+01] [ 1.64897322e-01 1.63635511e-03 9.86309381e-01 3.37171673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34864 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:303.86, Y:63.04, Z:33.73 [[ 8.60579481e-01 -4.88930392e-01 -1.42653529e-01 3.03857035e+02] [ 4.81887080e-01 8.72319361e-01 -8.27271121e-02 6.30401764e+01] [ 1.64887234e-01 2.45036284e-03 9.86309381e-01 3.37285638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40863999999993 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:303.91, Y:63.07, Z:33.74 [[ 8.60531570e-01 -4.89028117e-01 -1.42607562e-01 3.03906196e+02] [ 4.81973021e-01 8.72264368e-01 -8.28062774e-02 6.30701278e+01] [ 1.64886093e-01 2.52441872e-03 9.86309385e-01 3.37387465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46863999999994 meters Centerline goodness : 0.999166 with order 1 Centerline is valid? [True, True] Translation: X:303.95, Y:63.10, Z:33.75 [[ 8.59930404e-01 -4.90097719e-01 -1.42562006e-01 3.03954671e+02] [ 4.83044227e-01 8.71664162e-01 -8.28846354e-02 6.31025303e+01] [ 1.64887762e-01 2.41126427e-03 9.86309389e-01 3.37481814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52863999999994 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:304.01, Y:63.13, Z:33.76 [[ 8.57180770e-01 -4.94902522e-01 -1.42522357e-01 3.04005165e+02] [ 4.87903480e-01 8.68947084e-01 -8.29527571e-02 6.31287972e+01] [ 1.64897915e-01 1.56835413e-03 9.86309393e-01 3.37583732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58863999999994 meters Centerline goodness : 0.998922 with order 1 Centerline is valid? [True, True] Translation: X:304.06, Y:63.15, Z:33.77 [[ 8.53793871e-01 -5.00735802e-01 -1.42476956e-01 3.04057555e+02] [ 4.93804150e-01 8.65600006e-01 -8.30306650e-02 6.31546018e+01] [ 1.64904480e-01 5.35360767e-04 9.86309397e-01 3.37673233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64863999999994 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:304.11, Y:63.18, Z:33.78 [[ 8.54984341e-01 -4.98711953e-01 -1.42436526e-01 3.04107823e+02] [ 4.91740809e-01 8.66767197e-01 -8.30999641e-02 6.31836730e+01] [ 1.64902254e-01 1.00731553e-03 9.86309400e-01 3.37794518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70863999999995 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:304.16, Y:63.21, Z:33.79 [[ 8.57420596e-01 -4.94523267e-01 -1.42396134e-01 3.04156858e+02] [ 4.87483078e-01 8.69162324e-01 -8.31691223e-02 6.32137374e+01] [ 1.64894421e-01 1.89521299e-03 9.86309403e-01 3.37898893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76863999999995 meters Centerline goodness : 0.999017 with order 1 Centerline is valid? [True, True] Translation: X:304.21, Y:63.24, Z:33.80 [[ 8.59992194e-01 -4.90049267e-01 -1.42355690e-01 3.04205788e+02] [ 4.82936550e-01 8.71690126e-01 -8.32382907e-02 6.32444888e+01] [ 1.64880913e-01 2.83551444e-03 9.86309406e-01 3.37984835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82863999999995 meters Centerline goodness : 0.999116 with order 1 Centerline is valid? [True, True] Translation: X:304.25, Y:63.28, Z:33.81 [[ 8.61558634e-01 -4.87303360e-01 -1.42310068e-01 3.04249553e+02] [ 4.80140496e-01 8.73225923e-01 -8.33162174e-02 6.32817658e+01] [ 1.64869113e-01 3.45297984e-03 9.86309410e-01 3.38091107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88863999999995 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:304.29, Y:63.32, Z:33.82 [[ 8.62996346e-01 -4.84765878e-01 -1.42265069e-01 3.04294126e+02] [ 4.77556063e-01 8.74634676e-01 -8.33929849e-02 6.33205293e+01] [ 1.64856036e-01 4.02829484e-03 9.86309414e-01 3.38198042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94863999999995 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:304.34, Y:63.36, Z:33.83 [[ 8.63567186e-01 -4.83759846e-01 -1.42225618e-01 3.04336762e+02] [ 4.76525409e-01 8.75190223e-01 -8.34602157e-02 6.33630036e+01] [ 1.64849171e-01 4.29938286e-03 9.86309417e-01 3.38276974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00863999999996 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:304.38, Y:63.40, Z:33.84 [[ 8.61202576e-01 -4.87968362e-01 -1.42186500e-01 3.04381146e+02] [ 4.80779744e-01 8.72854003e-01 -8.35268063e-02 6.34020551e+01] [ 1.64866495e-01 3.57311169e-03 9.86309420e-01 3.38397622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06863999999996 meters Centerline goodness : 0.989404 with order 1 Centerline is valid? [True, True] Translation: X:304.42, Y:63.44, Z:33.87 [[ 8.58977176e-01 -4.91886595e-01 -1.42147069e-01 3.04423825e+02] [ 4.84740037e-01 8.70654445e-01 -8.35938575e-02 6.34385056e+01] [ 1.64879676e-01 2.90084007e-03 9.86309423e-01 3.38714916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12863999999996 meters Centerline goodness : 0.998629 with order 1 Centerline is valid? [True, True] Translation: X:304.47, Y:63.48, Z:33.86 [[ 8.55846341e-01 -4.97315680e-01 -1.42141322e-01 3.04474832e+02] [ 4.90241583e-01 8.67567648e-01 -8.36036291e-02 6.34766393e+01] [ 1.64894608e-01 1.86827339e-03 9.86309423e-01 3.38595149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18863999999996 meters Centerline goodness : 0.990542 with order 1 Centerline is valid? [True, True] Translation: X:304.52, Y:63.51, Z:33.89 [[ 8.52064344e-01 -5.03768000e-01 -1.42141322e-01 3.04517561e+02] [ 4.96782667e-01 8.63838767e-01 -8.36036291e-02 6.35140257e+01] [ 1.64904017e-01 6.22326422e-04 9.86309423e-01 3.38923703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24863999999997 meters Centerline goodness : 0.995201 with order 1 Centerline is valid? [True, True] Translation: X:304.57, Y:63.55, Z:33.90 [[ 8.51305986e-01 -5.05050367e-01 -1.42134600e-01 3.04567464e+02] [ 4.98080863e-01 8.63089785e-01 -8.36150544e-02 6.35486309e+01] [ 1.64904736e-01 3.87471938e-04 9.86309423e-01 3.38960125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30863999999997 meters Centerline goodness : 0.994564 with order 1 Centerline is valid? [True, True] Translation: X:304.61, Y:63.58, Z:33.91 [[ 8.51203576e-01 -5.05223762e-01 -1.42131708e-01 3.04613677e+02] [ 4.98255837e-01 8.62988309e-01 -8.36199701e-02 6.35836614e+01] [ 1.64904799e-01 3.59664141e-04 9.86309423e-01 3.39059159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36863999999997 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:304.67, Y:63.62, Z:33.90 [[ 8.49499792e-01 -5.08086476e-01 -1.42120501e-01 3.04665547e+02] [ 5.01155078e-01 8.61306045e-01 -8.36390148e-02 6.36151231e+01] [ 1.64905099e-01 -1.73084750e-04 9.86309423e-01 3.38969268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:304.72, Y:63.64, Z:33.91 [[ 8.48462267e-01 -5.09821109e-01 -1.42106364e-01 3.04715993e+02] [ 5.02909827e-01 8.60280306e-01 -8.36630269e-02 6.36444848e+01] [ 1.64904483e-01 -4.81765345e-04 9.86309424e-01 3.39053912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:304.77, Y:63.67, Z:33.91 [[ 8.44955711e-01 -5.15615000e-01 -1.42095102e-01 3.04767788e+02] [ 5.08781531e-01 8.56818914e-01 -8.36821500e-02 6.36706584e+01] [ 1.64897543e-01 -1.58765308e-03 9.86309424e-01 3.39127750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54864 meters Centerline goodness : 0.995875 with order 1 Centerline is valid? [True, True] Translation: X:304.82, Y:63.69, Z:33.94 [[ 8.41693605e-01 -5.20926147e-01 -1.42083866e-01 3.04819998e+02] [ 5.14164307e-01 8.53597780e-01 -8.37012231e-02 6.36911993e+01] [ 1.64884628e-01 -2.60366839e-03 9.86309424e-01 3.39406452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:304.88, Y:63.71, Z:33.93 [[ 8.38558836e-01 -5.25960427e-01 -1.42072895e-01 3.04876775e+02] [ 5.19266889e-01 8.50501550e-01 -8.37198420e-02 6.37142399e+01] [ 1.64866541e-01 -3.56973660e-03 9.86309424e-01 3.39309270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:304.93, Y:63.74, Z:33.94 [[ 8.39413674e-01 -5.24606859e-01 -1.42029320e-01 3.04930706e+02] [ 5.17881569e-01 8.51338532e-01 -8.37937011e-02 6.37354324e+01] [ 1.64873783e-01 -3.21678872e-03 9.86309428e-01 3.39422673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72864 meters Centerline goodness : 0.996762 with order 1 Centerline is valid? [True, True] Translation: X:304.98, Y:63.76, Z:33.97 [[ 8.41914788e-01 -5.20595241e-01 -1.41986217e-01 3.04979139e+02] [ 5.13800817e-01 8.53800387e-01 -8.38666769e-02 6.37621979e+01] [ 1.64888479e-01 -2.34403866e-03 9.86309432e-01 3.39704437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:305.03, Y:63.79, Z:33.96 [[ 8.44303735e-01 -5.16722400e-01 -1.41947750e-01 3.05032498e+02] [ 5.09862513e-01 8.56151670e-01 -8.39317340e-02 6.37928594e+01] [ 1.64898210e-01 -1.50995993e-03 9.86309434e-01 3.39594447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84864 meters Centerline goodness : 0.993384 with order 1 Centerline is valid? [True, True] Translation: X:305.08, Y:63.83, Z:33.99 [[ 8.45305416e-01 -5.15092913e-01 -1.41908576e-01 3.05076813e+02] [ 5.08199075e-01 8.57133624e-01 -8.39979159e-02 6.38253442e+01] [ 1.64901343e-01 -1.11391390e-03 9.86309437e-01 3.39906626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90863999999993 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:305.13, Y:63.86, Z:33.98 [[ 8.45103282e-01 -5.15427568e-01 -1.41897374e-01 3.05129688e+02] [ 5.08535238e-01 8.56932368e-01 -8.40168353e-02 6.38582047e+01] [ 1.64901046e-01 -1.15691162e-03 9.86309438e-01 3.39772767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96863999999994 meters Centerline goodness : 0.996029 with order 1 Centerline is valid? [True, True] Translation: X:305.18, Y:63.89, Z:34.00 [[ 8.40957711e-01 -5.22166316e-01 -1.41888926e-01 3.05176473e+02] [ 5.15366354e-01 8.52840135e-01 -8.40310994e-02 6.38863316e+01] [ 1.64886781e-01 -2.45817766e-03 9.86309438e-01 3.40023466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02863999999994 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:305.23, Y:63.91, Z:34.00 [[ 8.37519190e-01 -5.27675960e-01 -1.41843886e-01 3.05229856e+02] [ 5.20941293e-01 8.49438739e-01 -8.41070605e-02 6.39141212e+01] [ 1.64868965e-01 -3.45106009e-03 9.86309442e-01 3.39968071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:305.28, Y:63.94, Z:34.01 [[ 8.37191965e-01 -5.28205323e-01 -1.41805324e-01 3.05281370e+02] [ 5.21467194e-01 8.49109554e-01 -8.41720258e-02 6.39390880e+01] [ 1.64868368e-01 -3.47868099e-03 9.86309444e-01 3.40067715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14863999999994 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:305.33, Y:63.96, Z:34.02 [[ 8.37607992e-01 -5.27557124e-01 -1.41761535e-01 3.05334129e+02] [ 5.20797305e-01 8.49513288e-01 -8.42457127e-02 6.39641175e+01] [ 1.64872733e-01 -3.26414306e-03 9.86309448e-01 3.40172166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20863999999995 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:305.39, Y:63.99, Z:34.03 [[ 8.38125550e-01 -5.26744852e-01 -1.41723052e-01 3.05386174e+02] [ 5.19962560e-01 8.50018054e-01 -8.43104017e-02 6.39879967e+01] [ 1.64877223e-01 -3.02797918e-03 9.86309451e-01 3.40256138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26863999999995 meters Centerline goodness : 0.999508 with order 1 Centerline is valid? [True, True] Translation: X:305.44, Y:64.01, Z:34.04 [[ 8.36523823e-01 -5.29296610e-01 -1.41679190e-01 3.05438787e+02] [ 5.22538124e-01 8.48429868e-01 -8.43840458e-02 6.40108124e+01] [ 1.64869046e-01 -3.44351389e-03 9.86309454e-01 3.40352789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32863999999995 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:305.49, Y:64.04, Z:34.04 [[ 8.35466049e-01 -5.30976417e-01 -1.41635183e-01 3.05490788e+02] [ 5.24229364e-01 8.47378573e-01 -8.44578476e-02 6.40359439e+01] [ 1.64863744e-01 -3.68765743e-03 9.86309458e-01 3.40448384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38863999999995 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:305.54, Y:64.07, Z:34.06 [[ 8.37994767e-01 -5.26988604e-01 -1.41590192e-01 3.05540288e+02] [ 5.20172123e-01 8.49867695e-01 -8.45332069e-02 6.40659884e+01] [ 1.64880967e-01 -2.81288572e-03 9.86309462e-01 3.40560512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44863999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:305.59, Y:64.10, Z:34.07 [[ 8.40087713e-01 -5.23656240e-01 -1.41551324e-01 3.05589522e+02] [ 5.16781701e-01 8.51927116e-01 -8.45982427e-02 6.40958753e+01] [ 1.64891809e-01 -2.08118963e-03 9.86309465e-01 3.40657230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50863999999996 meters Centerline goodness : 0.999115 with order 1 Centerline is valid? [True, True] Translation: X:305.64, Y:64.12, Z:34.08 [[ 8.38674674e-01 -5.25927004e-01 -1.41511756e-01 3.05639798e+02] [ 5.19073362e-01 8.50526183e-01 -8.46643782e-02 6.41243871e+01] [ 1.64886737e-01 -2.44911332e-03 9.86309468e-01 3.40769975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56863999999996 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:305.69, Y:64.16, Z:34.08 [[ 8.35837104e-01 -5.30435654e-01 -1.41472091e-01 3.05687534e+02] [ 5.23634726e-01 8.47718938e-01 -8.47306066e-02 6.41574218e+01] [ 1.64872706e-01 -3.25871502e-03 9.86309471e-01 3.40847604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62863999999996 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:305.74, Y:64.18, Z:34.10 [[ 8.30448943e-01 -5.38844010e-01 -1.41427313e-01 3.05739851e+02] [ 5.32150637e-01 8.42391692e-01 -8.48052834e-02 6.41829631e+01] [ 1.64834013e-01 -4.83417674e-03 9.86309474e-01 3.40961796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68863999999996 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:305.79, Y:64.21, Z:34.10 [[ 8.28293358e-01 -5.42161646e-01 -1.41389045e-01 3.05791675e+02] [ 5.35505231e-01 8.40256743e-01 -8.48690368e-02 6.42096009e+01] [ 1.64815835e-01 -5.41811392e-03 9.86309477e-01 3.41043653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74863999999997 meters Centerline goodness : 0.983241 with order 1 Centerline is valid? [True, True] Translation: X:305.84, Y:64.24, Z:34.14 [[ 8.28369821e-01 -5.42054648e-01 -1.41351330e-01 3.05839988e+02] [ 5.35385991e-01 8.40326382e-01 -8.49318076e-02 6.42367504e+01] [ 1.64818933e-01 -5.32257549e-03 9.86309480e-01 3.41404509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:305.90, Y:64.27, Z:34.12 [[ 8.29422857e-01 -5.40441800e-01 -1.41351994e-01 3.05896710e+02] [ 5.33750078e-01 8.41366525e-01 -8.49307027e-02 6.42667202e+01] [ 1.64828938e-01 -5.00317166e-03 9.86309480e-01 3.41231762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86863999999997 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:305.95, Y:64.29, Z:34.13 [[ 8.27622656e-01 -5.43195160e-01 -1.41349770e-01 3.05949027e+02] [ 5.36542536e-01 8.39588146e-01 -8.49344032e-02 6.42911550e+01] [ 1.64811548e-01 -5.54652765e-03 9.86309480e-01 3.41341440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:306.00, Y:64.32, Z:34.14 [[ 8.25403621e-01 -5.46570970e-01 -1.41311844e-01 3.06000853e+02] [ 5.39956497e-01 8.37390239e-01 -8.49974579e-02 6.43173256e+01] [ 1.64790302e-01 -6.14503879e-03 9.86309482e-01 3.41430882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98864 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:306.05, Y:64.34, Z:34.15 [[ 8.24697572e-01 -5.47645389e-01 -1.41274355e-01 3.06053657e+02] [ 5.41035885e-01 8.36686928e-01 -8.50597234e-02 6.43410581e+01] [ 1.64784971e-01 -6.28594833e-03 9.86309485e-01 3.41521260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:306.11, Y:64.36, Z:34.16 [[ 8.24960665e-01 -5.47260096e-01 -1.41231330e-01 3.06106159e+02] [ 5.40632793e-01 8.36940188e-01 -8.51311018e-02 6.43637091e+01] [ 1.64791031e-01 -6.12447837e-03 9.86309488e-01 3.41648937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10864 meters Centerline goodness : 0.982298 with order 1 Centerline is valid? [True, True] Translation: X:306.16, Y:64.38, Z:34.20 [[ 8.29421143e-01 -5.40487203e-01 -1.41188353e-01 3.06157579e+02] [ 5.33749927e-01 8.41339159e-01 -8.52023199e-02 6.43846749e+01] [ 1.64838054e-01 -4.69066775e-03 9.86309492e-01 3.41993112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16864 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:306.21, Y:64.42, Z:34.19 [[ 8.34198607e-01 -5.33085104e-01 -1.41184118e-01 3.06212894e+02] [ 5.26240853e-01 8.46055514e-01 -8.52093378e-02 6.44153464e+01] [ 1.64873430e-01 -3.21533978e-03 9.86309492e-01 3.41857712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:306.27, Y:64.44, Z:34.20 [[ 8.38985455e-01 -5.25519625e-01 -1.41182614e-01 3.06265085e+02] [ 5.18568012e-01 8.50779737e-01 -8.52118293e-02 6.44404675e+01] [ 1.64895796e-01 -1.72130215e-03 9.86309492e-01 3.41950190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28864 meters Centerline goodness : 0.983471 with order 1 Centerline is valid? [True, True] Translation: X:306.31, Y:64.47, Z:34.23 [[ 8.42561466e-01 -5.19777698e-01 -1.41142910e-01 3.06312813e+02] [ 5.12734691e-01 8.54301397e-01 -8.52775451e-02 6.44689619e+01] [ 1.64903951e-01 -5.17292780e-04 9.86309495e-01 3.42296137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34864 meters Centerline goodness : 0.986911 with order 1 Centerline is valid? [True, True] Translation: X:306.36, Y:64.50, Z:34.24 [[ 8.45071583e-01 -5.15686377e-01 -1.41143826e-01 3.06362804e+02] [ 5.08586784e-01 8.56777382e-01 -8.52760283e-02 6.45001397e+01] [ 1.64904524e-01 2.80463707e-04 9.86309495e-01 3.42358404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40863999999993 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:306.42, Y:64.53, Z:34.23 [[ 8.47474087e-01 -5.11731078e-01 -1.41134601e-01 3.06418286e+02] [ 5.04574310e-01 8.59145017e-01 -8.52912930e-02 6.45296615e+01] [ 1.64901295e-01 1.06926653e-03 9.86309495e-01 3.42254521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46863999999994 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:306.47, Y:64.56, Z:34.24 [[ 8.48786973e-01 -5.09551229e-01 -1.41131922e-01 3.06467074e+02] [ 5.02363752e-01 8.60439016e-01 -8.52957269e-02 6.45609298e+01] [ 1.64897954e-01 1.49834026e-03 9.86309495e-01 3.42351363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52863999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:306.52, Y:64.59, Z:34.24 [[ 8.51393900e-01 -5.05195106e-01 -1.41089802e-01 3.06515995e+02] [ 4.97936479e-01 8.63001750e-01 -8.53653425e-02 6.45900593e+01] [ 1.64886899e-01 2.42577269e-03 9.86309498e-01 3.42447797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58863999999994 meters Centerline goodness : 0.987092 with order 1 Centerline is valid? [True, True] Translation: X:306.56, Y:64.63, Z:34.27 [[ 8.55472585e-01 -4.98270716e-01 -1.41042371e-01 3.06559730e+02] [ 4.90905247e-01 8.67012931e-01 -8.54436389e-02 6.46263417e+01] [ 1.64859622e-01 3.85625082e-03 9.86309502e-01 3.42745220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64863999999994 meters Centerline goodness : 0.994504 with order 1 Centerline is valid? [True, True] Translation: X:306.60, Y:64.67, Z:34.28 [[ 8.58062773e-01 -4.93797681e-01 -1.41039455e-01 3.06603636e+02] [ 4.86371272e-01 8.69563999e-01 -8.54484508e-02 6.46676398e+01] [ 1.64837079e-01 4.72259537e-03 9.86309502e-01 3.42795189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70863999999995 meters Centerline goodness : 0.991661 with order 1 Centerline is valid? [True, True] Translation: X:306.65, Y:64.71, Z:34.29 [[ 8.57665258e-01 -4.94491394e-01 -1.41026827e-01 3.06648061e+02] [ 4.87070866e-01 8.69170278e-01 -8.54692882e-02 6.47064742e+01] [ 1.64840154e-01 4.61398036e-03 9.86309503e-01 3.42918019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76863999999995 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:306.70, Y:64.75, Z:34.29 [[ 8.53816811e-01 -5.01117994e-01 -1.40987975e-01 3.06696284e+02] [ 4.93776209e-01 8.65372235e-01 -8.55333307e-02 6.47458437e+01] [ 1.64869370e-01 3.41328812e-03 9.86309505e-01 3.42857214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82863999999995 meters Centerline goodness : 0.989210 with order 1 Centerline is valid? [True, True] Translation: X:306.74, Y:64.78, Z:34.31 [[ 8.46858922e-01 -5.12790449e-01 -1.40981990e-01 3.06742412e+02] [ 5.05606325e-01 8.58513020e-01 -8.55431935e-02 6.47773424e+01] [ 1.64900607e-01 1.16163067e-03 9.86309505e-01 3.43137130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88863999999995 meters Centerline goodness : 0.989856 with order 1 Centerline is valid? [True, True] Translation: X:306.79, Y:64.81, Z:34.32 [[ 8.45643474e-01 -5.14793618e-01 -1.40977463e-01 3.06790061e+02] [ 5.07635857e-01 8.57313783e-01 -8.55506534e-02 6.48098685e+01] [ 1.64902853e-01 7.80136334e-04 9.86309505e-01 3.43231658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94863999999995 meters Centerline goodness : 0.995928 with order 1 Centerline is valid? [True, True] Translation: X:306.84, Y:64.84, Z:34.33 [[ 8.46972100e-01 -5.12608893e-01 -1.40962349e-01 3.06842811e+02] [ 5.05416886e-01 8.58621335e-01 -8.55755500e-02 6.48399955e+01] [ 1.64900068e-01 1.23535178e-03 9.86309506e-01 3.43272222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00863999999996 meters Centerline goodness : 0.994953 with order 1 Centerline is valid? [True, True] Translation: X:306.89, Y:64.87, Z:34.34 [[ 8.46619379e-01 -5.13191207e-01 -1.40962450e-01 3.06893410e+02] [ 5.06007240e-01 8.58273573e-01 -8.55753831e-02 6.48684435e+01] [ 1.64900880e-01 1.12175719e-03 9.86309506e-01 3.43385871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:306.94, Y:64.90, Z:34.33 [[ 8.49537266e-01 -5.08358123e-01 -1.40920023e-01 3.06944258e+02] [ 5.01096278e-01 8.61143090e-01 -8.56451939e-02 6.49042609e+01] [ 1.64890734e-01 2.14428474e-03 9.86309509e-01 3.43309258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:306.99, Y:64.94, Z:34.34 [[ 8.50519034e-01 -5.06715514e-01 -1.40914021e-01 3.06991629e+02] [ 4.99429620e-01 8.62109775e-01 -8.56550679e-02 6.49378404e+01] [ 1.64886107e-01 2.47462964e-03 9.86309509e-01 3.43412510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18863999999996 meters Centerline goodness : 0.995243 with order 1 Centerline is valid? [True, True] Translation: X:307.04, Y:64.97, Z:34.37 [[ 8.51825018e-01 -5.04528525e-01 -1.40872658e-01 3.07038069e+02] [ 4.97201635e-01 8.63389885e-01 -8.57230427e-02 6.49705173e+01] [ 1.64877748e-01 2.97891650e-03 9.86309512e-01 3.43667064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:307.09, Y:65.01, Z:34.36 [[ 8.52363583e-01 -5.03618951e-01 -1.40869705e-01 3.07086645e+02] [ 4.96278919e-01 8.63920113e-01 -8.57278949e-02 6.50080273e+01] [ 1.64874364e-01 3.16067062e-03 9.86309512e-01 3.43598001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30863999999997 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:307.13, Y:65.04, Z:34.37 [[ 8.50232347e-01 -5.07211205e-01 -1.40860746e-01 3.07133430e+02] [ 4.99917566e-01 8.61818212e-01 -8.57426131e-02 6.50420562e+01] [ 1.64885971e-01 2.48238176e-03 9.86309513e-01 3.43695049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36863999999997 meters Centerline goodness : 0.991119 with order 1 Centerline is valid? [True, True] Translation: X:307.18, Y:65.07, Z:34.40 [[ 8.49454229e-01 -5.08524790e-01 -1.40819215e-01 3.07178988e+02] [ 5.01237771e-01 8.61044255e-01 -8.58107684e-02 6.50732476e+01] [ 1.64888479e-01 2.30841062e-03 9.86309516e-01 3.44017528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:307.23, Y:65.11, Z:34.39 [[ 8.52450259e-01 -5.03487403e-01 -1.40815450e-01 3.07230633e+02] [ 4.96130882e-01 8.63996296e-01 -8.58169458e-02 6.51095119e+01] [ 1.64871779e-01 3.29178403e-03 9.86309516e-01 3.43891953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:307.28, Y:65.15, Z:34.40 [[ 8.54019030e-01 -5.00822117e-01 -1.40814431e-01 3.07276538e+02] [ 4.93429290e-01 8.65541853e-01 -8.58186190e-02 6.51450353e+01] [ 1.64860646e-01 3.80876912e-03 9.86309516e-01 3.43984945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:307.32, Y:65.18, Z:34.41 [[ 8.56094818e-01 -4.97277175e-01 -1.40773132e-01 3.07322471e+02] [ 4.89825518e-01 8.67579681e-01 -8.58863104e-02 6.51806525e+01] [ 1.64841211e-01 4.57255266e-03 9.86309519e-01 3.44072691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:307.37, Y:65.22, Z:34.42 [[ 8.57404653e-01 -4.95028705e-01 -1.40726128e-01 3.07366868e+02] [ 4.87534317e-01 8.68861673e-01 -8.59632610e-02 6.52173439e+01] [ 1.64825820e-01 5.09648343e-03 9.86309523e-01 3.44171257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66864 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:307.41, Y:65.25, Z:34.43 [[ 8.57468792e-01 -4.94930951e-01 -1.40679158e-01 3.07412162e+02] [ 4.87422672e-01 8.68916709e-01 -8.60400604e-02 6.52517886e+01] [ 1.64822359e-01 5.20645573e-03 9.86309527e-01 3.44270298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72864 meters Centerline goodness : 0.999607 with order 1 Centerline is valid? [True, True] Translation: X:307.45, Y:65.29, Z:34.44 [[ 8.56494196e-01 -4.96628753e-01 -1.40632764e-01 3.07454888e+02] [ 4.89130742e-01 8.67948836e-01 -8.61158249e-02 6.52903992e+01] [ 1.64829639e-01 4.96989588e-03 9.86309531e-01 3.44376926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78864 meters Centerline goodness : 0.999069 with order 1 Centerline is valid? [True, True] Translation: X:307.50, Y:65.32, Z:34.45 [[ 8.54715566e-01 -4.99696760e-01 -1.40586093e-01 3.07504101e+02] [ 4.92227360e-01 8.66188879e-01 -8.61919505e-02 6.53217474e+01] [ 1.64843949e-01 4.46928026e-03 9.86309535e-01 3.44460704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84864 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:307.55, Y:65.35, Z:34.46 [[ 8.51307424e-01 -5.05492736e-01 -1.40544526e-01 3.07552191e+02] [ 4.98090290e-01 8.62824044e-01 -8.62596783e-02 6.53534917e+01] [ 1.64868837e-01 3.42964107e-03 9.86309538e-01 3.44559103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90863999999993 meters Centerline goodness : 0.999411 with order 1 Centerline is valid? [True, True] Translation: X:307.60, Y:65.38, Z:34.47 [[ 8.49151237e-01 -5.09117967e-01 -1.40502925e-01 3.07601702e+02] [ 5.01753492e-01 8.60692172e-01 -8.63273861e-02 6.53835801e+01] [ 1.64880591e-01 2.80717328e-03 9.86309541e-01 3.44674490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96863999999994 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:307.65, Y:65.41, Z:34.48 [[ 8.50591310e-01 -5.06711639e-01 -1.40491062e-01 3.07651167e+02] [ 4.99311330e-01 8.62109300e-01 -8.63466884e-02 6.54147626e+01] [ 1.64871523e-01 3.29696367e-03 9.86309541e-01 3.44759175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02863999999994 meters Centerline goodness : 0.992856 with order 1 Centerline is valid? [True, True] Translation: X:307.70, Y:65.45, Z:34.50 [[ 8.50178626e-01 -5.07407009e-01 -1.40479288e-01 3.07697640e+02] [ 5.00012958e-01 8.61700634e-01 -8.63658403e-02 6.54455873e+01] [ 1.64873724e-01 3.18492732e-03 9.86309541e-01 3.45032867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08863999999994 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:307.75, Y:65.48, Z:34.50 [[ 8.50975884e-01 -5.06070409e-01 -1.40473436e-01 3.07748065e+02] [ 4.98656691e-01 8.62485248e-01 -8.63753569e-02 6.54808645e+01] [ 1.64868278e-01 3.45532689e-03 9.86309541e-01 3.44960291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14863999999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:307.80, Y:65.51, Z:34.50 [[ 8.51599361e-01 -5.05022203e-01 -1.40467446e-01 3.07795597e+02] [ 4.97592713e-01 8.63098550e-01 -8.63850968e-02 6.55144035e+01] [ 1.64863641e-01 3.66991553e-03 9.86309541e-01 3.45048959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20863999999995 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:307.84, Y:65.55, Z:34.51 [[ 8.51798362e-01 -5.04689759e-01 -1.40455678e-01 3.07842024e+02] [ 4.97252630e-01 8.63292611e-01 -8.64042267e-02 6.55488993e+01] [ 1.64861677e-01 3.75702355e-03 9.86309542e-01 3.45147990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26863999999995 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:307.88, Y:65.59, Z:34.53 [[ 8.51422431e-01 -5.05326948e-01 -1.40444006e-01 3.07884853e+02] [ 4.97895294e-01 8.62920221e-01 -8.64231941e-02 6.55906179e+01] [ 1.64863942e-01 3.65623610e-03 9.86309542e-01 3.45253055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32863999999995 meters Centerline goodness : 0.998727 with order 1 Centerline is valid? [True, True] Translation: X:307.93, Y:65.63, Z:34.53 [[ 8.49986310e-01 -5.07742108e-01 -1.40432275e-01 3.07928769e+02] [ 5.00339979e-01 8.61503129e-01 -8.64422532e-02 6.56296758e+01] [ 1.64873216e-01 3.21085039e-03 9.86309542e-01 3.45348394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38863999999995 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:307.97, Y:65.67, Z:34.54 [[ 8.46079325e-01 -5.14229357e-01 -1.40420598e-01 3.07974492e+02] [ 5.06912398e-01 8.57650441e-01 -8.64612174e-02 6.56686144e+01] [ 1.64892684e-01 1.97210633e-03 9.86309542e-01 3.45439122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44863999999995 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:308.02, Y:65.71, Z:34.55 [[ 8.41564411e-01 -5.21587052e-01 -1.40414704e-01 3.08022532e+02] [ 5.14369666e-01 8.53197896e-01 -8.64707882e-02 6.57082872e+01] [ 1.64903574e-01 5.45673547e-04 9.86309543e-01 3.45545083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50863999999996 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:308.07, Y:65.74, Z:34.56 [[ 8.37324208e-01 -5.28355310e-01 -1.40459377e-01 3.08072793e+02] [ 5.21244135e-01 8.49022914e-01 -8.63981631e-02 6.57429531e+01] [ 1.64902158e-01 -8.70353225e-04 9.86309546e-01 3.45647815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56863999999996 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:308.12, Y:65.78, Z:34.57 [[ 8.33678962e-01 -5.34077869e-01 -1.40499888e-01 3.08124335e+02] [ 5.27058094e-01 8.45432736e-01 -8.63322354e-02 6.57761740e+01] [ 1.64891341e-01 -2.07823494e-03 9.86309549e-01 3.45744514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:308.18, Y:65.80, Z:34.58 [[ 8.28457163e-01 -5.42132247e-01 -1.40539518e-01 3.08179674e+02] [ 5.35237654e-01 8.40284798e-01 -8.62676755e-02 6.58047240e+01] [ 1.64861709e-01 -3.75296788e-03 9.86309552e-01 3.45826738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68863999999996 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:308.23, Y:65.83, Z:34.59 [[ 8.23812333e-01 -5.49154775e-01 -1.40578350e-01 3.08234658e+02] [ 5.42371759e-01 8.35704305e-01 -8.62043505e-02 6.58327965e+01] [ 1.64821463e-01 -5.22951977e-03 9.86309555e-01 3.45944830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:308.29, Y:65.85, Z:34.60 [[ 8.21224476e-01 -5.53013834e-01 -1.40591818e-01 3.08294794e+02] [ 5.46290440e-01 8.33150258e-01 -8.61823800e-02 6.58539074e+01] [ 1.64794158e-01 -6.02888615e-03 9.86309555e-01 3.46046449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:308.35, Y:65.88, Z:34.61 [[ 8.20540135e-01 -5.54018032e-01 -1.40633948e-01 3.08352099e+02] [ 5.47321000e-01 8.32480736e-01 -8.61135765e-02 6.58775440e+01] [ 1.64783527e-01 -6.31226758e-03 9.86309558e-01 3.46145186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86863999999997 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:308.41, Y:65.90, Z:34.63 [[ 8.21904495e-01 -5.51982471e-01 -1.40671077e-01 3.08411296e+02] [ 5.45266230e-01 8.33834300e-01 -8.60528828e-02 6.58992993e+01] [ 1.64796052e-01 -5.97593664e-03 9.86309561e-01 3.46253250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92864 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:308.47, Y:65.92, Z:34.63 [[ 8.24858700e-01 -5.47547125e-01 -1.40713437e-01 3.08465190e+02] [ 5.40778527e-01 8.36758873e-01 -8.59835613e-02 6.59232802e+01] [ 1.64823269e-01 -5.17051655e-03 9.86309564e-01 3.46345597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98864 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:308.52, Y:65.95, Z:34.64 [[ 8.27740275e-01 -5.43182560e-01 -1.40708008e-01 3.08515404e+02] [ 5.36349691e-01 8.39603662e-01 -8.59924449e-02 6.59530915e+01] [ 1.64848555e-01 -4.28928652e-03 9.86309564e-01 3.46447879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:308.56, Y:65.99, Z:34.66 [[ 8.34244698e-01 -5.33141734e-01 -1.40697105e-01 3.08562668e+02] [ 5.26163016e-01 8.46022879e-01 -8.60102806e-02 6.59860582e+01] [ 1.64888640e-01 -2.27599242e-03 9.86309564e-01 3.46560231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10864 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:308.61, Y:66.02, Z:34.66 [[ 8.37198527e-01 -5.28494180e-01 -1.40685922e-01 3.08610369e+02] [ 5.21446998e-01 8.48935871e-01 -8.60285683e-02 6.60192727e+01] [ 1.64898923e-01 -1.33726095e-03 9.86309564e-01 3.46640734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16864 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:308.66, Y:66.05, Z:34.67 [[ 8.38271788e-01 -5.26793199e-01 -1.40674572e-01 3.08657417e+02] [ 5.19719086e-01 8.49992920e-01 -8.60471238e-02 6.60541431e+01] [ 1.64901430e-01 -9.80383652e-04 9.86309565e-01 3.46735964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22864 meters Centerline goodness : 0.999361 with order 1 Centerline is valid? [True, True] Translation: X:308.71, Y:66.09, Z:34.68 [[ 8.36041339e-01 -5.30328919e-01 -1.40663134e-01 3.08706085e+02] [ 5.23301228e-01 8.47790363e-01 -8.60658172e-02 6.60868928e+01] [ 1.64896042e-01 -1.65460987e-03 9.86309565e-01 3.46825728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28864 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:308.76, Y:66.12, Z:34.69 [[ 8.34440158e-01 -5.32846973e-01 -1.40654634e-01 3.08756430e+02] [ 5.25852394e-01 8.46208924e-01 -8.60797072e-02 6.61173419e+01] [ 1.64890518e-01 -2.13521145e-03 9.86309565e-01 3.46911993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34864 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:308.81, Y:66.15, Z:34.70 [[ 8.31276700e-01 -5.37770310e-01 -1.40648999e-01 3.08807649e+02] [ 5.30843865e-01 8.43085695e-01 -8.60889139e-02 6.61453931e+01] [ 1.64875221e-01 -3.09894967e-03 9.86309565e-01 3.47020821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40863999999993 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:308.86, Y:66.17, Z:34.71 [[ 8.30453185e-01 -5.39042613e-01 -1.40643408e-01 3.08858827e+02] [ 5.32132713e-01 8.42271870e-01 -8.60980457e-02 6.61744399e+01] [ 1.64870502e-01 -3.34056206e-03 9.86309565e-01 3.47127338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46863999999994 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:308.91, Y:66.21, Z:34.72 [[ 8.32686400e-01 -5.35587869e-01 -1.40637813e-01 3.08908202e+02] [ 5.28627386e-01 8.44475364e-01 -8.61071841e-02 6.62069865e+01] [ 1.64883132e-01 -2.64471842e-03 9.86309565e-01 3.47211352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52863999999994 meters Centerline goodness : 0.998777 with order 1 Centerline is valid? [True, True] Translation: X:308.96, Y:66.24, Z:34.73 [[ 8.34413576e-01 -5.32894507e-01 -1.40632249e-01 3.08957678e+02] [ 5.25894436e-01 8.46179077e-01 -8.61162708e-02 6.62409606e+01] [ 1.64890954e-01 -2.10113186e-03 9.86309565e-01 3.47322495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58863999999994 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:309.01, Y:66.27, Z:34.74 [[ 8.34119869e-01 -5.33354117e-01 -1.40632249e-01 3.09007758e+02] [ 5.26360529e-01 8.45889225e-01 -8.61162708e-02 6.62725691e+01] [ 1.64889772e-01 -2.19197251e-03 9.86309565e-01 3.47425638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64863999999994 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:309.06, Y:66.30, Z:34.75 [[ 8.32831952e-01 -5.35362971e-01 -1.40632249e-01 3.09058224e+02] [ 5.28397770e-01 8.44618129e-01 -8.61162708e-02 6.63045834e+01] [ 1.64884010e-01 -2.58938498e-03 9.86309565e-01 3.47522214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70863999999995 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:309.11, Y:66.34, Z:34.76 [[ 8.31525455e-01 -5.37389978e-01 -1.40632249e-01 3.09109564e+02] [ 5.30453507e-01 8.43328563e-01 -8.61162708e-02 6.63359644e+01] [ 1.64877213e-01 -2.99099847e-03 9.86309565e-01 3.47607108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76863999999995 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:309.16, Y:66.36, Z:34.77 [[ 8.30922360e-01 -5.38322024e-01 -1.40632249e-01 3.09161014e+02] [ 5.31398791e-01 8.42733239e-01 -8.61162708e-02 6.63638049e+01] [ 1.64873756e-01 -3.17587216e-03 9.86309565e-01 3.47701890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82863999999995 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:309.21, Y:66.39, Z:34.78 [[ 8.32215145e-01 -5.36322741e-01 -1.40626702e-01 3.09212982e+02] [ 5.29369603e-01 8.44008443e-01 -8.61253282e-02 6.63923559e+01] [ 1.64881096e-01 -2.76869879e-03 9.86309565e-01 3.47802771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88863999999995 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:309.26, Y:66.42, Z:34.79 [[ 8.33549323e-01 -5.34248282e-01 -1.40621118e-01 3.09262774e+02] [ 5.27264254e-01 8.45324354e-01 -8.61344448e-02 6.64242918e+01] [ 1.64887635e-01 -2.34718052e-03 9.86309565e-01 3.47891630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94863999999995 meters Centerline goodness : 0.997984 with order 1 Centerline is valid? [True, True] Translation: X:309.31, Y:66.45, Z:34.80 [[ 8.35051568e-01 -5.31898624e-01 -1.40615548e-01 3.09312890e+02] [ 5.24879930e-01 8.46805969e-01 -8.61435372e-02 6.64531049e+01] [ 1.64893714e-01 -1.87198293e-03 9.86309565e-01 3.48005127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00863999999996 meters Centerline goodness : 0.998139 with order 1 Centerline is valid? [True, True] Translation: X:309.36, Y:66.48, Z:34.81 [[ 8.34318139e-01 -5.33051307e-01 -1.40604219e-01 3.09364593e+02] [ 5.26045738e-01 8.46080367e-01 -8.61620233e-02 6.64795634e+01] [ 1.64891249e-01 -2.07771137e-03 9.86309566e-01 3.48083510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06863999999996 meters Centerline goodness : 0.998433 with order 1 Centerline is valid? [True, True] Translation: X:309.42, Y:66.51, Z:34.82 [[ 8.33519450e-01 -5.34302310e-01 -1.40592917e-01 3.09416607e+02] [ 5.27311284e-01 8.45290327e-01 -8.61804623e-02 6.65058006e+01] [ 1.64888253e-01 -2.30313992e-03 9.86309566e-01 3.48193501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12863999999996 meters Centerline goodness : 0.998384 with order 1 Centerline is valid? [True, True] Translation: X:309.47, Y:66.54, Z:34.83 [[ 8.34198256e-01 -5.33244853e-01 -1.40581639e-01 3.09465627e+02] [ 5.26235807e-01 8.45958411e-01 -8.61988544e-02 6.65360500e+01] [ 1.64891316e-01 -2.07215849e-03 9.86309566e-01 3.48304428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18863999999996 meters Centerline goodness : 0.998483 with order 1 Centerline is valid? [True, True] Translation: X:309.52, Y:66.57, Z:34.84 [[ 8.38934597e-01 -5.25764869e-01 -1.40570426e-01 3.09515197e+02] [ 5.18647891e-01 8.50629749e-01 -8.62171376e-02 6.65664829e+01] [ 1.64903328e-01 -5.76015303e-04 9.86309566e-01 3.48377170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24863999999997 meters Centerline goodness : 0.998284 with order 1 Centerline is valid? [True, True] Translation: X:309.56, Y:66.60, Z:34.85 [[ 8.43011803e-01 -5.19205414e-01 -1.40559021e-01 3.09564089e+02] [ 5.11994334e-01 8.54649169e-01 -8.62357275e-02 6.65982118e+01] [ 1.64902707e-01 7.32314031e-04 9.86309567e-01 3.48483115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30863999999997 meters Centerline goodness : 0.997506 with order 1 Centerline is valid? [True, True] Translation: X:309.61, Y:66.63, Z:34.86 [[ 8.45677437e-01 -5.14855382e-01 -1.40547527e-01 3.09611049e+02] [ 5.07581330e-01 8.57275546e-01 -8.62544558e-02 6.66321379e+01] [ 1.64896529e-01 1.60414650e-03 9.86309567e-01 3.48593864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36863999999997 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:309.66, Y:66.66, Z:34.87 [[ 8.43630130e-01 -5.18206387e-01 -1.40535916e-01 3.09660603e+02] [ 5.10975255e-01 8.55255047e-01 -8.62733690e-02 6.66634457e+01] [ 1.64901463e-01 9.72437816e-04 9.86309567e-01 3.48684287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42864 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:309.71, Y:66.69, Z:34.88 [[ 8.42015520e-01 -5.20828215e-01 -1.40526990e-01 3.09711736e+02] [ 5.13630854e-01 8.53661375e-01 -8.62879066e-02 6.66912540e+01] [ 1.64903640e-01 4.76758826e-04 9.86309567e-01 3.48769721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48864 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:309.76, Y:66.72, Z:34.89 [[ 8.42704299e-01 -5.19716178e-01 -1.40515334e-01 3.09763316e+02] [ 5.12500285e-01 8.54338680e-01 -8.63068836e-02 6.67180622e+01] [ 1.64902769e-01 7.17033171e-04 9.86309567e-01 3.48879431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54864 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:309.81, Y:66.75, Z:34.90 [[ 8.46098452e-01 -5.14175167e-01 -1.40503764e-01 3.09813992e+02] [ 5.06879957e-01 8.57683263e-01 -8.63257153e-02 6.67454038e+01] [ 1.64894266e-01 1.82151232e-03 9.86309568e-01 3.48982869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60864 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:309.86, Y:66.78, Z:34.91 [[ 8.48616243e-01 -5.10013764e-01 -1.40486418e-01 3.09864101e+02] [ 5.02657078e-01 8.60162112e-01 -8.63539343e-02 6.67750636e+01] [ 1.64882789e-01 2.66485867e-03 9.86309568e-01 3.49085089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66864 meters Centerline goodness : 0.989815 with order 1 Centerline is valid? [True, True] Translation: X:309.91, Y:66.80, Z:34.93 [[ 8.46601227e-01 -5.13354847e-01 -1.40474783e-01 3.09913594e+02] [ 5.06040590e-01 8.58174021e-01 -8.63728576e-02 6.68005769e+01] [ 1.64891734e-01 2.03742505e-03 9.86309568e-01 3.49349816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72864 meters Centerline goodness : 0.999314 with order 1 Centerline is valid? [True, True] Translation: X:309.97, Y:66.83, Z:34.93 [[ 8.41932068e-01 -5.20980363e-01 -1.40462998e-01 3.09969683e+02] [ 5.13767733e-01 8.53568471e-01 -8.63920189e-02 6.68259216e+01] [ 1.64903332e-01 5.70855096e-04 9.86309569e-01 3.49265120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78864 meters Centerline goodness : 0.998041 with order 1 Centerline is valid? [True, True] Translation: X:310.02, Y:66.85, Z:34.94 [[ 8.40445058e-01 -5.23387144e-01 -1.40420804e-01 3.10023332e+02] [ 5.16196386e-01 8.52094986e-01 -8.64605464e-02 6.68499923e+01] [ 1.64904202e-01 1.80627083e-04 9.86309572e-01 3.49364825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84864 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:310.08, Y:66.87, Z:34.95 [[ 8.39560582e-01 -5.24815882e-01 -1.40379198e-01 3.10076613e+02] [ 5.17633661e-01 8.51215771e-01 -8.65280484e-02 6.68727944e+01] [ 1.64904281e-01 -1.94594552e-05 9.86309575e-01 3.49466339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90863999999993 meters Centerline goodness : 0.998626 with order 1 Centerline is valid? [True, True] Translation: X:310.13, Y:66.90, Z:34.96 [[ 8.40785613e-01 -5.22863761e-01 -1.40331897e-01 3.10131193e+02] [ 5.15641684e-01 8.52416143e-01 -8.66046942e-02 6.68951653e+01] [ 1.64903631e-01 4.55005133e-04 9.86309579e-01 3.49576109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96863999999994 meters Centerline goodness : 0.988443 with order 1 Centerline is valid? [True, True] Translation: X:310.18, Y:66.92, Z:34.99 [[ 8.45359671e-01 -5.15446943e-01 -1.40290683e-01 3.10179060e+02] [ 5.08111759e-01 8.56919196e-01 -8.66714059e-02 6.69223052e+01] [ 1.64892291e-01 1.98516534e-03 9.86309582e-01 3.49871216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02863999999994 meters Centerline goodness : 0.989353 with order 1 Centerline is valid? [True, True] Translation: X:310.23, Y:66.95, Z:35.00 [[ 8.48182585e-01 -5.10798973e-01 -1.40252312e-01 3.10227645e+02] [ 5.03390192e-01 8.59695075e-01 -8.67334554e-02 6.69534352e+01] [ 1.64877582e-01 2.96416827e-03 9.86309585e-01 3.49960939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08863999999994 meters Centerline goodness : 0.997454 with order 1 Centerline is valid? [True, True] Translation: X:310.28, Y:66.99, Z:34.99 [[ 8.51117820e-01 -5.05906367e-01 -1.40204155e-01 3.10278164e+02] [ 4.98418611e-01 8.62579097e-01 -8.68112317e-02 6.69872921e+01] [ 1.64855528e-01 4.00622592e-03 9.86309589e-01 3.49875615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14863999999994 meters Centerline goodness : 0.988581 with order 1 Centerline is valid? [True, True] Translation: X:310.32, Y:67.02, Z:35.02 [[ 8.48543512e-01 -5.10223993e-01 -1.40161997e-01 3.10323777e+02] [ 5.02783334e-01 8.60035416e-01 -8.68792461e-02 6.70179076e+01] [ 1.64872157e-01 3.24970435e-03 9.86309592e-01 3.50166029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20863999999995 meters Centerline goodness : 0.998482 with order 1 Centerline is valid? [True, True] Translation: X:310.37, Y:67.05, Z:35.01 [[ 8.49010390e-01 -5.09458138e-01 -1.40120529e-01 3.10373980e+02] [ 5.01996088e-01 8.60488412e-01 -8.69460762e-02 6.70525517e+01] [ 1.64867478e-01 3.47816469e-03 9.86309595e-01 3.50085785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26863999999995 meters Centerline goodness : 0.997844 with order 1 Centerline is valid? [True, True] Translation: X:310.42, Y:67.09, Z:35.02 [[ 8.50483478e-01 -5.07006851e-01 -1.40078213e-01 3.10418026e+02] [ 4.99500508e-01 8.61932580e-01 -8.70141985e-02 6.70910029e+01] [ 1.64854771e-01 4.03499942e-03 9.86309598e-01 3.50173141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32863999999995 meters Centerline goodness : 0.998239 with order 1 Centerline is valid? [True, True] Translation: X:310.46, Y:67.12, Z:35.03 [[ 8.49196766e-01 -5.09170541e-01 -1.40036466e-01 3.10464071e+02] [ 5.01682307e-01 8.60657716e-01 -8.70813332e-02 6.71242217e+01] [ 1.64862715e-01 3.69536896e-03 9.86309601e-01 3.50281664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38863999999995 meters Centerline goodness : 0.998483 with order 1 Centerline is valid? [True, True] Translation: X:310.51, Y:67.16, Z:35.04 [[ 8.46231528e-01 -5.14096672e-01 -1.39988617e-01 3.10510744e+02] [ 5.06662453e-01 8.57727584e-01 -8.71581869e-02 6.71577565e+01] [ 1.64879832e-01 2.82902932e-03 9.86309605e-01 3.50358109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44863999999995 meters Centerline goodness : 0.997892 with order 1 Centerline is valid? [True, True] Translation: X:310.56, Y:67.19, Z:35.05 [[ 8.41699169e-01 -5.21497083e-01 -1.39940352e-01 3.10557279e+02] [ 5.14151080e-01 8.53251789e-01 -8.72356146e-02 6.71921151e+01] [ 1.64897474e-01 1.47566147e-03 9.86309609e-01 3.50453444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50863999999996 meters Centerline goodness : 0.998677 with order 1 Centerline is valid? [True, True] Translation: X:310.61, Y:67.22, Z:35.05 [[ 8.38968825e-01 -5.25890414e-01 -1.39894897e-01 3.10606486e+02] [ 5.18592763e-01 8.50552045e-01 -8.73084474e-02 6.72232058e+01] [ 1.64902567e-01 7.00584225e-04 9.86309613e-01 3.50537185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56863999999996 meters Centerline goodness : 0.998725 with order 1 Centerline is valid? [True, True] Translation: X:310.66, Y:67.25, Z:35.06 [[ 8.34032383e-01 -5.33687863e-01 -1.39882982e-01 3.10658037e+02] [ 5.26495299e-01 8.45681147e-01 -8.73275332e-02 6.72500742e+01] [ 1.64902046e-01 -8.13741962e-04 9.86309613e-01 3.50619573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62863999999996 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:310.71, Y:67.27, Z:35.07 [[ 8.30340625e-01 -5.39416820e-01 -1.39871156e-01 3.10710397e+02] [ 5.32301428e-01 8.42036688e-01 -8.73464713e-02 6.72749518e+01] [ 1.64892801e-01 -1.92629237e-03 9.86309614e-01 3.50714705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68863999999996 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:310.76, Y:67.30, Z:35.08 [[ 8.28249873e-01 -5.42624614e-01 -1.39859485e-01 3.10763740e+02] [ 5.35551363e-01 8.39971468e-01 -8.73651549e-02 6.72996217e+01] [ 1.64884460e-01 -2.54175932e-03 9.86309614e-01 3.50815808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74863999999997 meters Centerline goodness : 0.998382 with order 1 Centerline is valid? [True, True] Translation: X:310.82, Y:67.33, Z:35.09 [[ 8.29218958e-01 -5.41145493e-01 -1.39848044e-01 3.10815011e+02] [ 5.34048245e-01 8.40926038e-01 -8.73834649e-02 6.73268829e+01] [ 1.64889030e-01 -2.22557689e-03 9.86309614e-01 3.50916719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80863999999997 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:310.87, Y:67.36, Z:35.10 [[ 8.31656106e-01 -5.37395433e-01 -1.39836581e-01 3.10865200e+02] [ 5.30242308e-01 8.43329129e-01 -8.74018047e-02 6.73570697e+01] [ 1.64897593e-01 -1.45902703e-03 9.86309614e-01 3.51012157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86863999999997 meters Centerline goodness : 0.988207 with order 1 Centerline is valid? [True, True] Translation: X:310.91, Y:67.39, Z:35.13 [[ 8.35003902e-01 -5.32188654e-01 -1.39798855e-01 3.10910930e+02] [ 5.24952636e-01 8.46625720e-01 -8.74621071e-02 6.73878132e+01] [ 1.64903647e-01 -3.56576623e-04 9.86309617e-01 3.51296581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92864 meters Centerline goodness : 0.986733 with order 1 Centerline is valid? [True, True] Translation: X:310.96, Y:67.42, Z:35.14 [[ 8.38705319e-01 -5.26339183e-01 -1.39787168e-01 3.10956660e+02] [ 5.19018996e-01 8.50274306e-01 -8.74807811e-02 6.74227165e+01] [ 1.64902000e-01 8.18400535e-04 9.86309617e-01 3.51424658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98864 meters Centerline goodness : 0.982801 with order 1 Centerline is valid? [True, True] Translation: X:311.00, Y:67.46, Z:35.16 [[ 8.39924915e-01 -5.24393910e-01 -1.39775405e-01 3.11004970e+02] [ 5.17043802e-01 8.51474915e-01 -8.74995726e-02 6.74552406e+01] [ 1.64899494e-01 1.22306427e-03 9.86309617e-01 3.51586012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04864 meters Centerline goodness : 0.997647 with order 1 Centerline is valid? [True, True] Translation: X:311.05, Y:67.50, Z:35.14 [[ 8.45323433e-01 -5.15647193e-01 -1.39772190e-01 3.11054319e+02] [ 5.08176743e-01 8.56795964e-01 -8.75047086e-02 6.74962693e+01] [ 1.64877805e-01 2.94080468e-03 9.86309617e-01 3.51426062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10864 meters Centerline goodness : 0.983333 with order 1 Centerline is valid? [True, True] Translation: X:311.10, Y:67.53, Z:35.17 [[ 8.48804207e-01 -5.09897932e-01 -1.39769515e-01 3.11097034e+02] [ 5.02349085e-01 8.60225305e-01 -8.75089799e-02 6.75327692e+01] [ 1.64853922e-01 4.06490218e-03 9.86309617e-01 3.51729004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16864 meters Centerline goodness : 0.994654 with order 1 Centerline is valid? [True, True] Translation: X:311.14, Y:67.57, Z:35.16 [[ 8.51248749e-01 -5.05807156e-01 -1.39766550e-01 3.11144814e+02] [ 4.98202656e-01 8.62632867e-01 -8.75137156e-02 6.75748278e+01] [ 1.64832283e-01 4.86387447e-03 9.86309617e-01 3.51634013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22864 meters Centerline goodness : 0.984184 with order 1 Centerline is valid? [True, True] Translation: X:311.19, Y:67.61, Z:35.19 [[ 8.48824161e-01 -5.09866346e-01 -1.39763562e-01 3.11187599e+02] [ 5.02315510e-01 8.60243944e-01 -8.75184872e-02 6.76110134e+01] [ 1.64853489e-01 4.08240144e-03 9.86309617e-01 3.51930008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28864 meters Centerline goodness : 0.994908 with order 1 Centerline is valid? [True, True] Translation: X:311.23, Y:67.65, Z:35.18 [[ 8.46508330e-01 -5.13703659e-01 -1.39757637e-01 3.11234438e+02] [ 5.06203035e-01 8.57961156e-01 -8.75279478e-02 6.76516465e+01] [ 1.64870051e-01 3.34739685e-03 9.86309617e-01 3.51843933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34864 meters Centerline goodness : 0.983663 with order 1 Centerline is valid? [True, True] Translation: X:311.28, Y:67.69, Z:35.21 [[ 8.42497059e-01 -5.20258646e-01 -1.39748514e-01 3.11277326e+02] [ 5.12844727e-01 8.54006203e-01 -8.75425116e-02 6.76875717e+01] [ 1.64890846e-01 2.08502002e-03 9.86309617e-01 3.52142584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40863999999993 meters Centerline goodness : 0.995059 with order 1 Centerline is valid? [True, True] Translation: X:311.33, Y:67.73, Z:35.20 [[ 8.41342522e-01 -5.22125262e-01 -1.39742522e-01 3.11326788e+02] [ 5.14735290e-01 8.52867056e-01 -8.75520763e-02 6.77273674e+01] [ 1.64894944e-01 1.73087732e-03 9.86309618e-01 3.52045212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46863999999994 meters Centerline goodness : 0.994866 with order 1 Centerline is valid? [True, True] Translation: X:311.38, Y:67.77, Z:35.22 [[ 8.38941967e-01 -5.25973767e-01 -1.39742522e-01 3.11375617e+02] [ 5.18636664e-01 8.50500232e-01 -8.75520763e-02 6.77650280e+01] [ 1.64901142e-01 9.75515924e-04 9.86309618e-01 3.52150773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52863999999994 meters Centerline goodness : 0.982520 with order 1 Centerline is valid? [True, True] Translation: X:311.42, Y:67.80, Z:35.25 [[ 8.36572865e-01 -5.29722899e-01 -1.39783730e-01 3.11421266e+02] [ 5.22448595e-01 8.48170752e-01 -8.74862358e-02 6.77997203e+01] [ 1.64903934e-01 1.58797861e-04 9.86309620e-01 3.52483222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58863999999994 meters Centerline goodness : 0.995398 with order 1 Centerline is valid? [True, True] Translation: X:311.48, Y:67.84, Z:35.24 [[ 8.35351566e-01 -5.31644424e-01 -1.39792588e-01 3.11476100e+02] [ 5.24399166e-01 8.46967620e-01 -8.74720782e-02 6.78351053e+01] [ 1.64903839e-01 -2.37179293e-04 9.86309621e-01 3.52355029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64863999999994 meters Centerline goodness : 0.995745 with order 1 Centerline is valid? [True, True] Translation: X:311.53, Y:67.87, Z:35.25 [[ 8.35567054e-01 -5.31302566e-01 -1.39804443e-01 3.11527929e+02] [ 5.24055726e-01 8.47182121e-01 -8.74531269e-02 6.78690625e+01] [ 1.64903896e-01 -1.92367527e-04 9.86309621e-01 3.52464483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70863999999995 meters Centerline goodness : 0.996429 with order 1 Centerline is valid? [True, True] Translation: X:311.58, Y:67.90, Z:35.26 [[ 8.36898302e-01 -5.29190818e-01 -1.39851028e-01 3.11579272e+02] [ 5.21927127e-01 8.48502834e-01 -8.73785684e-02 6.79024304e+01] [ 1.64903930e-01 1.34930260e-04 9.86309625e-01 3.52568256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76863999999995 meters Centerline goodness : 0.996281 with order 1 Centerline is valid? [True, True] Translation: X:311.63, Y:67.94, Z:35.27 [[ 8.38484140e-01 -5.26663842e-01 -1.39891188e-01 3.11628893e+02] [ 5.19375911e-01 8.50073461e-01 -8.73142264e-02 6.79385901e+01] [ 1.64903032e-01 5.55480655e-04 9.86309628e-01 3.52687478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82863999999995 meters Centerline goodness : 0.995102 with order 1 Centerline is valid? [True, True] Translation: X:311.68, Y:67.98, Z:35.28 [[ 8.40672228e-01 -5.23153268e-01 -1.39931635e-01 3.11678990e+02] [ 5.15827737e-01 8.52237816e-01 -8.72493574e-02 6.79753815e+01] [ 1.64899818e-01 1.16749285e-03 9.86309630e-01 3.52789084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88863999999995 meters Centerline goodness : 0.994948 with order 1 Centerline is valid? [True, True] Translation: X:311.73, Y:68.02, Z:35.29 [[ 8.43461828e-01 -5.18631127e-01 -1.39978207e-01 3.11727065e+02] [ 5.11255998e-01 8.54995847e-01 -8.71745777e-02 6.80152707e+01] [ 1.64892235e-01 1.96373080e-03 9.86309634e-01 3.52889008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94863999999995 meters Centerline goodness : 0.996087 with order 1 Centerline is valid? [True, True] Translation: X:311.78, Y:68.05, Z:35.30 [[ 8.44048755e-01 -5.17664350e-01 -1.40018996e-01 3.11775164e+02] [ 5.10286882e-01 8.55581275e-01 -8.71090138e-02 6.80546623e+01] [ 1.64890862e-01 2.07439764e-03 9.86309637e-01 3.53002995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00863999999996 meters Centerline goodness : 0.996435 with order 1 Centerline is valid? [True, True] Translation: X:311.82, Y:68.09, Z:35.31 [[ 8.43243439e-01 -5.18971157e-01 -1.40033715e-01 3.11823772e+02] [ 5.11615491e-01 8.54789875e-01 -8.70853469e-02 6.80934091e+01] [ 1.64894185e-01 1.79072972e-03 9.86309638e-01 3.53082388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06863999999996 meters Centerline goodness : 0.987608 with order 1 Centerline is valid? [True, True] Translation: X:311.87, Y:68.13, Z:35.34 [[ 8.42323322e-01 -5.20452289e-01 -1.40074394e-01 3.11867588e+02] [ 5.13127813e-01 8.53889566e-01 -8.70198675e-02 6.81321853e+01] [ 1.64897752e-01 1.42279674e-03 9.86309640e-01 3.53365166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12863999999996 meters Centerline goodness : 0.997262 with order 1 Centerline is valid? [True, True] Translation: X:311.92, Y:68.17, Z:35.33 [[ 8.39327642e-01 -5.25268166e-01 -1.40080200e-01 3.11919943e+02] [ 5.18011616e-01 8.50936622e-01 -8.70105196e-02 6.81697121e+01] [ 1.64903228e-01 4.67163508e-04 9.86309641e-01 3.53280205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18863999999996 meters Centerline goodness : 0.998046 with order 1 Centerline is valid? [True, True] Translation: X:311.97, Y:68.21, Z:35.34 [[ 8.36990823e-01 -5.28981491e-01 -1.40089056e-01 3.11970112e+02] [ 5.21778830e-01 8.48633315e-01 -8.69962595e-02 6.82061539e+01] [ 1.64903651e-01 -2.80432735e-04 9.86309641e-01 3.53383029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24863999999997 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:312.02, Y:68.24, Z:35.35 [[ 8.34185830e-01 -5.33381858e-01 -1.40134916e-01 3.12020757e+02] [ 5.26253025e-01 8.45873669e-01 -8.69223261e-02 6.82425899e+01] [ 1.64899227e-01 -1.23705041e-03 9.86309644e-01 3.53462424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30863999999997 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:312.07, Y:68.28, Z:35.36 [[ 8.31587614e-01 -5.37420013e-01 -1.40149097e-01 3.12072331e+02] [ 5.30351784e-01 8.43312202e-01 -8.68994553e-02 6.82765174e+01] [ 1.64890950e-01 -2.06381275e-03 9.86309645e-01 3.53575516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36863999999997 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:312.13, Y:68.31, Z:35.37 [[ 8.28708821e-01 -5.41837051e-01 -1.40193796e-01 3.12126647e+02] [ 5.34843506e-01 8.40478106e-01 -8.68272840e-02 6.83065640e+01] [ 1.64876055e-01 -3.02720506e-03 9.86309648e-01 3.53685730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42864 meters Centerline goodness : 0.998923 with order 1 Centerline is valid? [True, True] Translation: X:312.19, Y:68.33, Z:35.38 [[ 8.20909020e-01 -5.53571861e-01 -1.40237571e-01 3.12185933e+02] [ 5.46758528e-01 8.32783536e-01 -8.67565253e-02 6.83293753e+01] [ 1.64813511e-01 -5.45687346e-03 9.86309652e-01 3.53805492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48864 meters Centerline goodness : 0.997648 with order 1 Centerline is valid? [True, True] Translation: X:312.25, Y:68.35, Z:35.39 [[ 8.16528710e-01 -5.60001962e-01 -1.40280677e-01 3.12245127e+02] [ 5.53294052e-01 8.28463092e-01 -8.66867696e-02 6.83531543e+01] [ 1.64762124e-01 -6.83422801e-03 9.86309655e-01 3.53896083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54864 meters Centerline goodness : 0.980695 with order 1 Centerline is valid? [True, True] Translation: X:312.30, Y:68.37, Z:35.42 [[ 8.09227251e-01 -5.70491694e-01 -1.40322781e-01 3.12301417e+02] [ 5.63950119e-01 8.21253608e-01 -8.66185612e-02 6.83712867e+01] [ 1.64655760e-01 -9.04094900e-03 9.86309658e-01 3.54248788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60864 meters Centerline goodness : 0.996962 with order 1 Centerline is valid? [True, True] Translation: X:312.36, Y:68.39, Z:35.41 [[ 8.16400109e-01 -5.60175653e-01 -1.40335667e-01 3.12364413e+02] [ 5.53485556e-01 8.28344482e-01 -8.65976786e-02 6.83939768e+01] [ 1.64756187e-01 -6.97541077e-03 9.86309659e-01 3.54133268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66864 meters Centerline goodness : 0.978776 with order 1 Centerline is valid? [True, True] Translation: X:312.42, Y:68.42, Z:35.45 [[ 8.21464829e-01 -5.52718466e-01 -1.40348966e-01 3.12418581e+02] [ 5.45923561e-01 8.33349891e-01 -8.65761211e-02 6.84160788e+01] [ 1.64812016e-01 -5.50056852e-03 9.86309659e-01 3.54460345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72864 meters Centerline goodness : 0.995784 with order 1 Centerline is valid? [True, True] Translation: X:312.48, Y:68.44, Z:35.43 [[ 8.27459939e-01 -5.43698814e-01 -1.40362565e-01 3.12479453e+02] [ 5.36778034e-01 8.39272146e-01 -8.65540666e-02 6.84422701e+01] [ 1.64861735e-01 -3.72351927e-03 9.86309659e-01 3.54333468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78864 meters Centerline goodness : 0.996524 with order 1 Centerline is valid? [True, True] Translation: X:312.53, Y:68.47, Z:35.44 [[ 8.30999237e-01 -5.38263495e-01 -1.40401844e-01 3.12534915e+02] [ 5.31276207e-01 8.42772222e-01 -8.64903051e-02 6.84711340e+01] [ 1.64881348e-01 -2.71878177e-03 9.86309662e-01 3.54406623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84864 meters Centerline goodness : 0.996672 with order 1 Centerline is valid? [True, True] Translation: X:312.59, Y:68.50, Z:35.45 [[ 8.33232977e-01 -5.34793554e-01 -1.40423150e-01 3.12586708e+02] [ 5.27763064e-01 8.44980213e-01 -8.64557003e-02 6.85024509e+01] [ 1.64890734e-01 -2.07241142e-03 9.86309663e-01 3.54535081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90863999999993 meters Centerline goodness : 0.996085 with order 1 Centerline is valid? [True, True] Translation: X:312.64, Y:68.54, Z:35.46 [[ 8.33878485e-01 -5.33776278e-01 -1.40461942e-01 3.12639646e+02] [ 5.26742077e-01 8.45623496e-01 -8.63926312e-02 6.85359940e+01] [ 1.64892255e-01 -1.94625854e-03 9.86309665e-01 3.54641428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96863999999994 meters Centerline goodness : 0.996821 with order 1 Centerline is valid? [True, True] Translation: X:312.69, Y:68.56, Z:35.47 [[ 8.31864478e-01 -5.36897945e-01 -1.40506537e-01 3.12694398e+02] [ 5.29920069e-01 8.43643035e-01 -8.63200434e-02 6.85641742e+01] [ 1.64882415e-01 -2.65065587e-03 9.86309669e-01 3.54711470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02863999999994 meters Centerline goodness : 0.982770 with order 1 Centerline is valid? [True, True] Translation: X:312.74, Y:68.59, Z:35.50 [[ 8.29573765e-01 -5.40421142e-01 -1.40543080e-01 3.12744650e+02] [ 5.33503362e-01 8.41387715e-01 -8.62605055e-02 6.85921225e+01] [ 1.64868222e-01 -3.42075319e-03 9.86309671e-01 3.55011889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08863999999994 meters Centerline goodness : 0.996964 with order 1 Centerline is valid? [True, True] Translation: X:312.80, Y:68.62, Z:35.49 [[ 8.25261272e-01 -5.46974803e-01 -1.40578795e-01 3.12804124e+02] [ 5.40160721e-01 8.37135333e-01 -8.62022617e-02 6.86161654e+01] [ 1.64833941e-01 -4.79575496e-03 9.86309674e-01 3.54896507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14863999999994 meters Centerline goodness : 0.997355 with order 1 Centerline is valid? [True, True] Translation: X:312.86, Y:68.64, Z:35.50 [[ 8.25362299e-01 -5.46822346e-01 -1.40578795e-01 3.12858847e+02] [ 5.40006070e-01 8.37235101e-01 -8.62022617e-02 6.86396864e+01] [ 1.64834824e-01 -4.76530567e-03 9.86309674e-01 3.54990402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20863999999995 meters Centerline goodness : 0.998141 with order 1 Centerline is valid? [True, True] Translation: X:312.92, Y:68.66, Z:35.51 [[ 8.25466468e-01 -5.46666460e-01 -1.40573438e-01 3.12915342e+02] [ 5.39846456e-01 8.37337129e-01 -8.62109962e-02 6.86583684e+01] [ 1.64836019e-01 -4.72378588e-03 9.86309674e-01 3.55093968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26863999999995 meters Centerline goodness : 0.997749 with order 1 Centerline is valid? [True, True] Translation: X:312.97, Y:68.68, Z:35.52 [[ 8.25300458e-01 -5.46919833e-01 -1.40562621e-01 3.12973036e+02] [ 5.40100474e-01 8.37171488e-01 -8.62286302e-02 6.86757285e+01] [ 1.64835166e-01 -4.75341004e-03 9.86309674e-01 3.55183577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32863999999995 meters Centerline goodness : 0.985973 with order 1 Centerline is valid? [True, True] Translation: X:313.03, Y:68.69, Z:35.55 [[ 8.26435332e-01 -5.45206224e-01 -1.40551826e-01 3.13028260e+02] [ 5.38359260e-01 8.38290461e-01 -8.62462214e-02 6.86922735e+01] [ 1.64845232e-01 -4.39045252e-03 9.86309674e-01 3.55471021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38863999999995 meters Centerline goodness : 0.983946 with order 1 Centerline is valid? [True, True] Translation: X:313.08, Y:68.71, Z:35.56 [[ 8.29921168e-01 -5.39886624e-01 -1.40546389e-01 3.13082299e+02] [ 5.32962153e-01 8.41731195e-01 -8.62550802e-02 6.87124617e+01] [ 1.64870244e-01 -3.32098944e-03 9.86309674e-01 3.55600918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44863999999995 meters Centerline goodness : 0.983758 with order 1 Centerline is valid? [True, True] Translation: X:313.13, Y:68.74, Z:35.57 [[ 8.34790753e-01 -5.32337874e-01 -1.40501913e-01 3.13134088e+02] [ 5.25294399e-01 8.46530190e-01 -8.63274682e-02 6.87371076e+01] [ 1.64894492e-01 -1.73949597e-03 9.86309678e-01 3.55685452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50863999999996 meters Centerline goodness : 0.983387 with order 1 Centerline is valid? [True, True] Translation: X:313.18, Y:68.77, Z:35.58 [[ 8.41045392e-01 -5.22412577e-01 -1.40455505e-01 3.13181357e+02] [ 5.15217944e-01 8.52692798e-01 -8.64029108e-02 6.87691717e+01] [ 1.64903365e-01 3.03573724e-04 9.86309682e-01 3.55816275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56863999999996 meters Centerline goodness : 0.996670 with order 1 Centerline is valid? [True, True] Translation: X:313.23, Y:68.80, Z:35.57 [[ 8.43128948e-01 -5.19054231e-01 -1.40414683e-01 3.13233638e+02] [ 5.11802163e-01 8.54740676e-01 -8.64692006e-02 6.88013531e+01] [ 1.64900346e-01 1.04014760e-03 9.86309685e-01 3.55725125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62863999999996 meters Centerline goodness : 0.982086 with order 1 Centerline is valid? [True, True] Translation: X:313.28, Y:68.83, Z:35.60 [[ 8.40840522e-01 -5.22756424e-01 -1.40402770e-01 3.13280002e+02] [ 5.15552253e-01 8.52482027e-01 -8.64885408e-02 6.88326029e+01] [ 1.64903278e-01 3.38105602e-04 9.86309685e-01 3.56012742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68863999999996 meters Centerline goodness : 0.983121 with order 1 Centerline is valid? [True, True] Translation: X:313.33, Y:68.87, Z:35.61 [[ 8.40900603e-01 -5.22661350e-01 -1.40396895e-01 3.13328178e+02] [ 5.15454271e-01 8.52540308e-01 -8.64980765e-02 6.88653312e+01] [ 1.64903213e-01 3.68105773e-04 9.86309685e-01 3.56110306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74863999999997 meters Centerline goodness : 0.997851 with order 1 Centerline is valid? [True, True] Translation: X:313.38, Y:68.90, Z:35.60 [[ 8.40578958e-01 -5.23189727e-01 -1.40354998e-01 3.13380426e+02] [ 5.15978620e-01 8.52216164e-01 -8.65660071e-02 6.88979488e+01] [ 1.64903244e-01 3.45385830e-04 9.86309688e-01 3.55984011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80863999999997 meters Centerline goodness : 0.981112 with order 1 Centerline is valid? [True, True] Translation: X:313.43, Y:68.92, Z:35.63 [[ 8.37659290e-01 -5.27854859e-01 -1.40343011e-01 3.13427951e+02] [ 5.20705306e-01 8.49334414e-01 -8.65854362e-02 6.89237175e+01] [ 1.64902692e-01 -5.48255544e-04 9.86309688e-01 3.56296847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86863999999997 meters Centerline goodness : 0.982808 with order 1 Centerline is valid? [True, True] Translation: X:313.48, Y:68.95, Z:35.64 [[ 8.32066806e-01 -5.36639431e-01 -1.40295944e-01 3.13481255e+02] [ 5.29600271e-01 8.43808814e-01 -8.66616345e-02 6.89487032e+01] [ 1.64889004e-01 -2.19250044e-03 9.86309692e-01 3.56386418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92864 meters Centerline goodness : 0.976586 with order 1 Centerline is valid? [True, True] Translation: X:313.53, Y:68.97, Z:35.66 [[ 8.30610812e-01 -5.38901088e-01 -1.40254401e-01 3.13534012e+02] [ 5.31882556e-01 8.42365158e-01 -8.67288164e-02 6.89744744e+01] [ 1.64883674e-01 -2.56097689e-03 9.86309695e-01 3.56564539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98864 meters Centerline goodness : 0.997163 with order 1 Centerline is valid? [True, True] Translation: X:313.59, Y:69.00, Z:35.64 [[ 8.31978859e-01 -5.36787148e-01 -1.40252404e-01 3.13591350e+02] [ 5.29738204e-01 8.43714992e-01 -8.67320457e-02 6.90040141e+01] [ 1.64889704e-01 -2.13782842e-03 9.86309695e-01 3.56369743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04864 meters Centerline goodness : 0.983004 with order 1 Centerline is valid? [True, True] Translation: X:313.64, Y:69.03, Z:35.67 [[ 8.30723461e-01 -5.38728681e-01 -1.40249565e-01 3.13638977e+02] [ 5.31706389e-01 8.42475561e-01 -8.67366367e-02 6.90303849e+01] [ 1.64884345e-01 -2.51743087e-03 9.86309695e-01 3.56691470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10864 meters Centerline goodness : 0.996765 with order 1 Centerline is valid? [True, True] Translation: X:313.69, Y:69.06, Z:35.66 [[ 8.30918459e-01 -5.38438487e-01 -1.40208810e-01 3.13691428e+02] [ 5.31400985e-01 8.42661453e-01 -8.68024670e-02 6.90614365e+01] [ 1.64886349e-01 -2.38132786e-03 9.86309698e-01 3.56582851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16864 meters Centerline goodness : 0.997603 with order 1 Centerline is valid? [True, True] Translation: X:313.75, Y:69.09, Z:35.67 [[ 8.30686122e-01 -5.38809049e-01 -1.40161963e-01 3.13745723e+02] [ 5.31764034e-01 8.42424606e-01 -8.68780480e-02 6.90854928e+01] [ 1.64886565e-01 -2.36470224e-03 9.86309702e-01 3.56662806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22864 meters Centerline goodness : 0.979640 with order 1 Centerline is valid? [True, True] Translation: X:313.79, Y:69.11, Z:35.70 [[ 8.32122443e-01 -5.36593965e-01 -1.40139773e-01 3.13792629e+02] [ 5.29511676e-01 8.43838475e-01 -8.69138275e-02 6.91126098e+01] [ 1.64892768e-01 -1.88269955e-03 9.86309703e-01 3.57012410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28864 meters Centerline goodness : 0.983357 with order 1 Centerline is valid? [True, True] Translation: X:313.84, Y:69.15, Z:35.71 [[ 8.36981451e-01 -5.28992849e-01 -1.40102163e-01 3.13842677e+02] [ 5.21794002e-01 8.48626226e-01 -8.69744123e-02 6.91452597e+01] [ 1.64903212e-01 -3.08498449e-04 9.86309706e-01 3.57062448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34864 meters Centerline goodness : 0.996277 with order 1 Centerline is valid? [True, True] Translation: X:313.89, Y:69.18, Z:35.70 [[ 8.42136072e-01 -5.20748542e-01 -1.40099221e-01 3.13891578e+02] [ 5.13434908e-01 8.53709097e-01 -8.69791503e-02 6.91816243e+01] [ 1.64898246e-01 1.31644917e-03 9.86309706e-01 3.56984403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40863999999993 meters Centerline goodness : 0.994715 with order 1 Centerline is valid? [True, True] Translation: X:313.93, Y:69.22, Z:35.71 [[ 8.46219208e-01 -5.14098159e-01 -1.40057616e-01 3.13933431e+02] [ 5.06682503e-01 8.57727124e-01 -8.70460939e-02 6.92216536e+01] [ 1.64881453e-01 2.69533288e-03 9.86309709e-01 3.57096245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46863999999994 meters Centerline goodness : 0.995941 with order 1 Centerline is valid? [True, True] Translation: X:313.98, Y:69.26, Z:35.72 [[ 8.47647536e-01 -5.11752761e-01 -1.40009877e-01 3.13976729e+02] [ 5.04292598e-01 8.59126644e-01 -8.71228142e-02 6.92622477e+01] [ 1.64871557e-01 3.24349425e-03 9.86309713e-01 3.57180484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52863999999994 meters Centerline goodness : 0.984767 with order 1 Centerline is valid? [True, True] Translation: X:314.02, Y:69.30, Z:35.75 [[ 8.44249857e-01 -5.17350048e-01 -1.39968239e-01 3.14018628e+02] [ 5.09954918e-01 8.55770965e-01 -8.71896582e-02 6.92997000e+01] [ 1.64888329e-01 2.23236459e-03 9.86309716e-01 3.57452093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58863999999994 meters Centerline goodness : 0.985642 with order 1 Centerline is valid? [True, True] Translation: X:314.07, Y:69.33, Z:35.75 [[ 8.37183518e-01 -5.28719570e-01 -1.39926318e-01 3.14067098e+02] [ 5.21469679e-01 8.48796565e-01 -8.72568849e-02 6.93310548e+01] [ 1.64903400e-01 8.26938966e-05 9.86309719e-01 3.57535445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64863999999994 meters Centerline goodness : 0.988348 with order 1 Centerline is valid? [True, True] Translation: X:314.11, Y:69.37, Z:35.76 [[ 8.31801193e-01 -5.37151443e-01 -1.39911052e-01 3.14113591e+02] [ 5.30015144e-01 8.43484388e-01 -8.72813553e-02 6.93657255e+01] [ 1.64896094e-01 -1.55424091e-03 9.86309719e-01 3.57621004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70863999999995 meters Centerline goodness : 0.988755 with order 1 Centerline is valid? [True, True] Translation: X:314.17, Y:69.39, Z:35.77 [[ 8.25831866e-01 -5.46296569e-01 -1.39863463e-01 3.14165262e+02] [ 5.39276714e-01 8.37585389e-01 -8.73575493e-02 6.93902932e+01] [ 1.64870722e-01 -3.28246061e-03 9.86309723e-01 3.57725155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76863999999995 meters Centerline goodness : 0.998823 with order 1 Centerline is valid? [True, True] Translation: X:314.22, Y:69.42, Z:35.76 [[ 8.19501416e-01 -5.55759609e-01 -1.39816620e-01 3.14220283e+02] [ 5.48862648e-01 8.31327468e-01 -8.74324593e-02 6.94198745e+01] [ 1.64824826e-01 -5.08909589e-03 9.86309727e-01 3.57629171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82863999999995 meters Centerline goodness : 0.998138 with order 1 Centerline is valid? [True, True] Translation: X:314.27, Y:69.45, Z:35.77 [[ 8.16544739e-01 -5.60095340e-01 -1.39813803e-01 3.14272742e+02] [ 5.53260388e-01 8.28406737e-01 -8.74369631e-02 6.94453938e+01] [ 1.64795732e-01 -5.95724666e-03 9.86309727e-01 3.57736735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88863999999995 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:314.32, Y:69.47, Z:35.78 [[ 8.14969597e-01 -5.62394379e-01 -1.39775239e-01 3.14323492e+02] [ 5.55582339e-01 8.26844765e-01 -8.74985678e-02 6.94735840e+01] [ 1.64781128e-01 -6.34798170e-03 9.86309730e-01 3.57832177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94863999999995 meters Centerline goodness : 0.991095 with order 1 Centerline is valid? [True, True] Translation: X:314.38, Y:69.49, Z:35.81 [[ 8.13559492e-01 -5.64441826e-01 -1.39736816e-01 3.14378662e+02] [ 5.57649157e-01 8.25445748e-01 -8.75598888e-02 6.94907274e+01] [ 1.64767624e-01 -6.68893882e-03 9.86309732e-01 3.58119864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00863999999996 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:314.43, Y:69.52, Z:35.80 [[ 8.14212437e-01 -5.63499876e-01 -1.39735454e-01 3.14434385e+02] [ 5.56693083e-01 8.26090610e-01 -8.75620612e-02 6.95197997e+01] [ 1.64775357e-01 -6.49564170e-03 9.86309732e-01 3.58001925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06863999999996 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:314.49, Y:69.54, Z:35.81 [[ 8.19876875e-01 -5.55226685e-01 -1.39732739e-01 3.14488211e+02] [ 5.48299232e-01 8.31685084e-01 -8.75663946e-02 6.95410259e+01] [ 1.64832834e-01 -4.82169137e-03 9.86309732e-01 3.58123305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12863999999996 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:314.54, Y:69.57, Z:35.82 [[ 8.24451824e-01 -5.48421626e-01 -1.39688619e-01 3.14539578e+02] [ 5.41384764e-01 8.36195158e-01 -8.76367197e-02 6.95679241e+01] [ 1.64868820e-01 -3.37303681e-03 9.86309736e-01 3.58211081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18863999999996 meters Centerline goodness : 0.984470 with order 1 Centerline is valid? [True, True] Translation: X:314.59, Y:69.59, Z:35.86 [[ 8.27977683e-01 -5.43093991e-01 -1.39649108e-01 3.14587271e+02] [ 5.35970942e-01 8.39668937e-01 -8.76996369e-02 6.95937805e+01] [ 1.64888164e-01 -2.23452180e-03 9.86309739e-01 3.58562334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24863999999997 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:314.64, Y:69.62, Z:35.84 [[ 8.28908008e-01 -5.41683413e-01 -1.39608719e-01 3.14641622e+02] [ 5.34529646e-01 8.40580488e-01 -8.77638865e-02 6.96248719e+01] [ 1.64892606e-01 -1.87681058e-03 9.86309741e-01 3.58402905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30863999999997 meters Centerline goodness : 0.999021 with order 1 Centerline is valid? [True, True] Translation: X:314.69, Y:69.65, Z:35.85 [[ 8.28375888e-01 -5.42507510e-01 -1.39567149e-01 3.14693556e+02] [ 5.35354226e-01 8.40048661e-01 -8.78299440e-02 6.96511362e+01] [ 1.64891601e-01 -1.96165520e-03 9.86309744e-01 3.58489721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36863999999997 meters Centerline goodness : 0.989316 with order 1 Centerline is valid? [True, True] Translation: X:314.74, Y:69.68, Z:35.88 [[ 8.29520218e-01 -5.40766742e-01 -1.39526123e-01 3.14742081e+02] [ 5.33578007e-01 8.41171188e-01 -8.78950702e-02 6.96767432e+01] [ 1.64896085e-01 -1.53733282e-03 9.86309747e-01 3.58800886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42864 meters Centerline goodness : 0.991238 with order 1 Centerline is valid? [True, True] Translation: X:314.79, Y:69.71, Z:35.89 [[ 8.30795834e-01 -5.38807198e-01 -1.39517332e-01 3.14789342e+02] [ 5.31588638e-01 8.42428349e-01 -8.79090228e-02 6.97087977e+01] [ 1.64899370e-01 -1.13137836e-03 9.86309747e-01 3.58894725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:314.84, Y:69.74, Z:35.88 [[ 8.34772743e-01 -5.32637708e-01 -1.39468777e-01 3.14839728e+02] [ 5.25320309e-01 8.46343334e-01 -8.79859891e-02 6.97439915e+01] [ 1.64903125e-01 1.82524421e-04 9.86309752e-01 3.58799278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54864 meters Centerline goodness : 0.989859 with order 1 Centerline is valid? [True, True] Translation: X:314.89, Y:69.77, Z:35.91 [[ 8.36975615e-01 -5.29172666e-01 -1.39456475e-01 3.14885932e+02] [ 5.21804118e-01 8.48513699e-01 -8.80054831e-02 6.97733609e+01] [ 1.64900826e-01 8.89480377e-04 9.86309752e-01 3.59102864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:314.94, Y:69.81, Z:35.90 [[ 8.34679022e-01 -5.32798143e-01 -1.39416889e-01 3.14936144e+02] [ 5.25469241e-01 8.46242328e-01 -8.80681520e-02 6.98082033e+01] [ 1.64903020e-01 2.49352382e-04 9.86309754e-01 3.58994649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:314.99, Y:69.84, Z:35.91 [[ 8.33436280e-01 -5.34753188e-01 -1.39366408e-01 3.14987012e+02] [ 5.27438062e-01 8.45008300e-01 -8.81479658e-02 6.98375512e+01] [ 1.64903177e-01 -4.14353845e-05 9.86309759e-01 3.59076986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72864 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:315.04, Y:69.87, Z:35.92 [[ 8.32726430e-01 -5.35869053e-01 -1.39323546e-01 3.15038082e+02] [ 5.28558107e-01 8.44301087e-01 -8.82156610e-02 6.98658365e+01] [ 1.64903064e-01 -1.81077195e-04 9.86309762e-01 3.59181111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78864 meters Centerline goodness : 0.994256 with order 1 Centerline is valid? [True, True] Translation: X:315.09, Y:69.89, Z:35.95 [[ 8.31627070e-01 -5.37584849e-01 -1.39280101e-01 3.15087280e+02] [ 5.30286302e-01 8.43209545e-01 -8.82842017e-02 6.98906297e+01] [ 1.64902560e-01 -4.38797901e-04 9.86309765e-01 3.59452296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:315.14, Y:69.92, Z:35.94 [[ 8.33030114e-01 -5.35419248e-01 -1.39237415e-01 3.15139715e+02] [ 5.28079343e-01 8.44586422e-01 -8.83514741e-02 6.99220209e+01] [ 1.64903110e-01 7.10358628e-05 9.86309768e-01 3.59380485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90863999999993 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:315.19, Y:69.95, Z:35.95 [[ 8.35220813e-01 -5.32006779e-01 -1.39194038e-01 3.15189599e+02] [ 5.24608277e-01 8.46739690e-01 -8.84197616e-02 6.99512343e+01] [ 1.64901029e-01 8.27681058e-04 9.86309772e-01 3.59487116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96863999999994 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:315.24, Y:69.99, Z:35.96 [[ 8.36947565e-01 -5.29297446e-01 -1.39150949e-01 3.15236666e+02] [ 5.21850389e-01 8.48435106e-01 -8.84875208e-02 6.99854867e+01] [ 1.64896769e-01 1.44343798e-03 9.86309775e-01 3.59575046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02863999999994 meters Centerline goodness : 0.993480 with order 1 Centerline is valid? [True, True] Translation: X:315.28, Y:70.02, Z:35.99 [[ 8.39314513e-01 -5.25547461e-01 -1.39107922e-01 3.15280294e+02] [ 5.18037879e-01 8.50761275e-01 -8.85551112e-02 7.00198643e+01] [ 1.64887547e-01 2.26241696e-03 9.86309778e-01 3.59861852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08863999999994 meters Centerline goodness : 0.993645 with order 1 Centerline is valid? [True, True] Translation: X:315.32, Y:70.06, Z:36.00 [[ 8.41692088e-01 -5.21741782e-01 -1.39068121e-01 3.15322936e+02] [ 5.14170131e-01 8.53097885e-01 -8.86175731e-02 7.00587019e+01] [ 1.64874210e-01 3.08403632e-03 9.86309781e-01 3.59962245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14863999999994 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:315.37, Y:70.10, Z:35.99 [[ 8.41306264e-01 -5.22376868e-01 -1.39018626e-01 3.15371170e+02] [ 5.14801013e-01 8.52709263e-01 -8.86951518e-02 7.00969573e+01] [ 1.64874766e-01 3.05285742e-03 9.86309785e-01 3.59874916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20863999999995 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:315.41, Y:70.14, Z:36.00 [[ 8.38053342e-01 -5.27591097e-01 -1.38975648e-01 3.15414153e+02] [ 5.20075038e-01 8.49495841e-01 -8.87624437e-02 7.01370584e+01] [ 1.64889510e-01 2.10989739e-03 9.86309788e-01 3.59977703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26863999999995 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:315.46, Y:70.17, Z:36.01 [[ 8.35134522e-01 -5.32210456e-01 -1.38932934e-01 3.15458280e+02] [ 5.24746578e-01 8.46611123e-01 -8.88292503e-02 7.01737467e+01] [ 1.64898023e-01 1.27979166e-03 9.86309791e-01 3.60070170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:315.51, Y:70.21, Z:36.01 [[ 8.32479810e-01 -5.36366201e-01 -1.38883639e-01 3.15506627e+02] [ 5.28946767e-01 8.43985187e-01 -8.89062573e-02 7.02057942e+01] [ 1.64902046e-01 5.50612394e-04 9.86309795e-01 3.60141341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38863999999995 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:315.56, Y:70.24, Z:36.02 [[ 8.30212874e-01 -5.39879517e-01 -1.38840522e-01 3.15555323e+02] [ 5.32497518e-01 8.41742302e-01 -8.89735419e-02 7.02355401e+01] [ 1.64902933e-01 -6.52531535e-05 9.86309798e-01 3.60244370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44863999999995 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:315.61, Y:70.26, Z:36.03 [[ 8.26716221e-01 -5.45231375e-01 -1.38791345e-01 3.15605450e+02] [ 5.37911140e-01 8.38284957e-01 -8.90501879e-02 7.02642766e+01] [ 1.64899653e-01 -1.03817592e-03 9.86309802e-01 3.60331522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50863999999996 meters Centerline goodness : 0.994563 with order 1 Centerline is valid? [True, True] Translation: X:315.65, Y:70.29, Z:36.06 [[ 8.25507213e-01 -5.47072551e-01 -1.38742439e-01 3.15653180e+02] [ 5.39765321e-01 8.37084164e-01 -8.91263215e-02 7.02910791e+01] [ 1.64897663e-01 -1.31393578e-03 9.86309807e-01 3.60609186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56863999999996 meters Centerline goodness : 0.995288 with order 1 Centerline is valid? [True, True] Translation: X:315.70, Y:70.32, Z:36.07 [[ 8.26586002e-01 -5.45451724e-01 -1.38701113e-01 3.15704456e+02] [ 5.38111006e-01 8.38141744e-01 -8.91905888e-02 7.03174459e+01] [ 1.64900353e-01 -9.12903268e-04 9.86309809e-01 3.60707486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.76, Y:70.35, Z:36.06 [[ 8.29235704e-01 -5.41427643e-01 -1.38651559e-01 3.15755849e+02] [ 5.34017974e-01 8.40747350e-01 -8.92675580e-02 7.03511876e+01] [ 1.64902854e-01 -1.85782698e-05 9.86309814e-01 3.60617508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:315.81, Y:70.38, Z:36.07 [[ 8.31294756e-01 -5.38272132e-01 -1.38607867e-01 3.15805550e+02] [ 5.30807459e-01 8.42770809e-01 -8.93353494e-02 7.03817499e+01] [ 1.64901393e-01 6.89917899e-04 9.86309817e-01 3.60712752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74863999999997 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:315.85, Y:70.41, Z:36.08 [[ 8.33074277e-01 -5.35525012e-01 -1.38564822e-01 3.15853695e+02] [ 5.28011399e-01 8.44518344e-01 -8.94020660e-02 7.04118398e+01] [ 1.64897576e-01 1.31475607e-03 9.86309820e-01 3.60812849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80863999999997 meters Centerline goodness : 0.993075 with order 1 Centerline is valid? [True, True] Translation: X:315.90, Y:70.45, Z:36.11 [[ 8.38283512e-01 -5.27346656e-01 -1.38514468e-01 3.15897473e+02] [ 5.19708531e-01 8.49644849e-01 -8.94800153e-02 7.04462367e+01] [ 1.64875091e-01 3.02247092e-03 9.86309824e-01 3.61102617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86863999999997 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:315.95, Y:70.48, Z:36.10 [[ 8.40870820e-01 -5.23221793e-01 -1.38474618e-01 3.15946041e+02] [ 5.15517800e-01 8.52187592e-01 -8.95416431e-02 7.04847019e+01] [ 1.64856490e-01 3.90682452e-03 9.86309827e-01 3.60991046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:315.99, Y:70.52, Z:36.11 [[ 8.41070046e-01 -5.22903938e-01 -1.38465335e-01 3.15993991e+02] [ 5.15193308e-01 8.52382297e-01 -8.95559952e-02 7.05179496e+01] [ 1.64854583e-01 3.98645099e-03 9.86309827e-01 3.61078379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:316.04, Y:70.55, Z:36.12 [[ 8.39076069e-01 -5.26108869e-01 -1.38422573e-01 3.16039893e+02] [ 5.18430560e-01 8.50410280e-01 -8.96220436e-02 7.05539748e+01] [ 1.64866931e-01 3.43722008e-03 9.86309830e-01 3.61185753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04864 meters Centerline goodness : 0.992011 with order 1 Centerline is valid? [True, True] Translation: X:316.08, Y:70.59, Z:36.15 [[ 8.40043145e-01 -5.24574514e-01 -1.38380250e-01 3.16084302e+02] [ 5.16864753e-01 8.51355982e-01 -8.96873454e-02 7.05863444e+01] [ 1.64858549e-01 3.81736615e-03 9.86309833e-01 3.61479448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:316.13, Y:70.62, Z:36.14 [[ 8.41594334e-01 -5.22093587e-01 -1.38337497e-01 3.16132956e+02] [ 5.14339658e-01 8.52876938e-01 -8.97532412e-02 7.06248341e+01] [ 1.64844453e-01 4.38335830e-03 9.86309836e-01 3.61391010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:316.18, Y:70.66, Z:36.15 [[ 8.40091641e-01 -5.24509721e-01 -1.38331442e-01 3.16179975e+02] [ 5.16786708e-01 8.51395431e-01 -8.97625724e-02 7.06574753e+01] [ 1.64856100e-01 3.92093609e-03 9.86309836e-01 3.61495471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:316.23, Y:70.69, Z:36.16 [[ 8.37129005e-01 -5.29238099e-01 -1.38282548e-01 3.16226682e+02] [ 5.21566515e-01 8.48467757e-01 -8.98378345e-02 7.06916913e+01] [ 1.64873888e-01 3.08231064e-03 9.86309840e-01 3.61588728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:316.28, Y:70.72, Z:36.17 [[ 8.34671706e-01 -5.33116357e-01 -1.38239261e-01 3.16275527e+02] [ 5.25486441e-01 8.46038534e-01 -8.99043944e-02 7.07230030e+01] [ 1.64885245e-01 2.39779708e-03 9.86309843e-01 3.61699900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34863999999993 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:316.32, Y:70.75, Z:36.18 [[ 8.34314776e-01 -5.33686064e-01 -1.38195660e-01 3.16323360e+02] [ 5.26052818e-01 8.45679364e-01 -8.99713664e-02 7.07539545e+01] [ 1.64885682e-01 2.36622418e-03 9.86309846e-01 3.61786589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40863999999993 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:316.37, Y:70.79, Z:36.19 [[ 8.34414180e-01 -5.33543477e-01 -1.38146062e-01 3.16370644e+02] [ 5.25895692e-01 8.45768985e-01 -9.00474582e-02 7.07867203e+01] [ 1.64883888e-01 2.48645720e-03 9.86309850e-01 3.61883658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46863999999994 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:316.42, Y:70.82, Z:36.20 [[ 8.34293172e-01 -5.33743899e-01 -1.38102693e-01 3.16418359e+02] [ 5.26087842e-01 8.45642397e-01 -9.01139238e-02 7.08183565e+01] [ 1.64883249e-01 2.52728365e-03 9.86309853e-01 3.61973026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52863999999994 meters Centerline goodness : 0.998090 with order 1 Centerline is valid? [True, True] Translation: X:316.46, Y:70.85, Z:36.21 [[ 8.33576698e-01 -5.34875028e-01 -1.38052863e-01 3.16464301e+02] [ 5.27221741e-01 8.44927786e-01 -9.01901982e-02 7.08511690e+01] [ 1.64885185e-01 2.39597681e-03 9.86309858e-01 3.62085405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58863999999994 meters Centerline goodness : 0.998483 with order 1 Centerline is valid? [True, True] Translation: X:316.51, Y:70.88, Z:36.22 [[ 8.31552116e-01 -5.38030059e-01 -1.38002659e-01 3.16513597e+02] [ 5.30407105e-01 8.42923591e-01 -9.02669539e-02 7.08815423e+01] [ 1.64892031e-01 1.86408599e-03 9.86309862e-01 3.62167605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64863999999994 meters Centerline goodness : 0.991119 with order 1 Centerline is valid? [True, True] Translation: X:316.56, Y:70.91, Z:36.25 [[ 8.28497363e-01 -5.42733176e-01 -1.37959483e-01 3.16558798e+02] [ 5.35163796e-01 8.39904566e-01 -9.03328946e-02 7.09120638e+01] [ 1.64899458e-01 1.00964462e-03 9.86309865e-01 3.62464160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70863999999995 meters Centerline goodness : 0.998873 with order 1 Centerline is valid? [True, True] Translation: X:316.61, Y:70.94, Z:36.24 [[ 8.29233960e-01 -5.41618104e-01 -1.37916164e-01 3.16610731e+02] [ 5.34022392e-01 8.40623643e-01 -9.03989846e-02 7.09433669e+01] [ 1.64897315e-01 1.31158847e-03 9.86309868e-01 3.62382010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76863999999995 meters Centerline goodness : 0.997209 with order 1 Centerline is valid? [True, True] Translation: X:316.66, Y:70.97, Z:36.25 [[ 8.29996500e-01 -5.40454846e-01 -1.37892599e-01 3.16658538e+02] [ 5.32837202e-01 8.41371525e-01 -9.04349152e-02 7.09746766e+01] [ 1.64894895e-01 1.58635639e-03 9.86309869e-01 3.62475881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82863999999995 meters Centerline goodness : 0.998137 with order 1 Centerline is valid? [True, True] Translation: X:316.71, Y:71.00, Z:36.26 [[ 8.31621164e-01 -5.37964233e-01 -1.37843111e-01 3.16708865e+02] [ 5.30300031e-01 8.42964866e-01 -9.05102846e-02 7.10035942e+01] [ 1.64888196e-01 2.17206214e-03 9.86309873e-01 3.62579479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88863999999995 meters Centerline goodness : 0.997405 with order 1 Centerline is valid? [True, True] Translation: X:316.76, Y:71.03, Z:36.27 [[ 8.33446728e-01 -5.35142992e-01 -1.37798870e-01 3.16756546e+02] [ 5.27429267e-01 8.44756810e-01 -9.05775910e-02 7.10348382e+01] [ 1.64878497e-01 2.81243974e-03 9.86309876e-01 3.62675269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94863999999995 meters Centerline goodness : 0.996675 with order 1 Centerline is valid? [True, True] Translation: X:316.81, Y:71.07, Z:36.28 [[ 8.33917006e-01 -5.34422711e-01 -1.37749020e-01 3.16805450e+02] [ 5.26686709e-01 8.45211857e-01 -9.06533394e-02 7.10660065e+01] [ 1.64874309e-01 3.04678308e-03 9.86309880e-01 3.62781446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00863999999996 meters Centerline goodness : 0.996864 with order 1 Centerline is valid? [True, True] Translation: X:316.85, Y:71.10, Z:36.29 [[ 8.32825657e-01 -5.36133090e-01 -1.37705246e-01 3.16854502e+02] [ 5.28409301e-01 8.44128859e-01 -9.07197858e-02 7.10954534e+01] [ 1.64878852e-01 2.78903219e-03 9.86309883e-01 3.62889047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06863999999996 meters Centerline goodness : 0.996914 with order 1 Centerline is valid? [True, True] Translation: X:316.90, Y:71.13, Z:36.30 [[ 8.31149705e-01 -5.38740339e-01 -1.37655424e-01 3.16902627e+02] [ 5.31039500e-01 8.42468550e-01 -9.07953229e-02 7.11271779e+01] [ 1.64885469e-01 2.36403815e-03 9.86309887e-01 3.62984108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12863999999996 meters Centerline goodness : 0.996476 with order 1 Centerline is valid? [True, True] Translation: X:316.95, Y:71.16, Z:36.31 [[ 8.30430497e-01 -5.39861269e-01 -1.37604507e-01 3.16951109e+02] [ 5.32162934e-01 8.41751040e-01 -9.08724261e-02 7.11587304e+01] [ 1.64887240e-01 2.23521577e-03 9.86309891e-01 3.63080146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18863999999996 meters Centerline goodness : 0.996820 with order 1 Centerline is valid? [True, True] Translation: X:317.00, Y:71.19, Z:36.32 [[ 8.28917659e-01 -5.42192453e-01 -1.37560379e-01 3.16998441e+02] [ 5.34514879e-01 8.40252289e-01 -9.09391780e-02 7.11925434e+01] [ 1.64891959e-01 1.85302125e-03 9.86309895e-01 3.63193472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24863999999997 meters Centerline goodness : 0.988047 with order 1 Centerline is valid? [True, True] Translation: X:317.05, Y:71.22, Z:36.35 [[ 8.27231651e-01 -5.44772522e-01 -1.37516161e-01 3.17045309e+02] [ 5.37119193e-01 8.38582662e-01 -9.10059950e-02 7.12229222e+01] [ 1.64896234e-01 1.42047010e-03 9.86309898e-01 3.63479467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30863999999997 meters Centerline goodness : 0.996772 with order 1 Centerline is valid? [True, True] Translation: X:317.10, Y:71.26, Z:36.34 [[ 8.25035717e-01 -5.48094074e-01 -1.37509827e-01 3.17098466e+02] [ 5.40484849e-01 8.36416340e-01 -9.10155644e-02 7.12552119e+01] [ 1.64900558e-01 7.69113119e-04 9.86309898e-01 3.63398407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36863999999997 meters Centerline goodness : 0.989728 with order 1 Centerline is valid? [True, True] Translation: X:317.15, Y:71.29, Z:36.37 [[ 8.24335305e-01 -5.49148559e-01 -1.37503329e-01 3.17145038e+02] [ 5.41552255e-01 8.35724557e-01 -9.10253809e-02 7.12852953e+01] [ 1.64901365e-01 5.70197177e-04 9.86309898e-01 3.63697971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42864 meters Centerline goodness : 0.997208 with order 1 Centerline is valid? [True, True] Translation: X:317.20, Y:71.32, Z:36.36 [[ 8.23795379e-01 -5.49959752e-01 -1.37497072e-01 3.17197697e+02] [ 5.42373086e-01 8.35191053e-01 -9.10348313e-02 7.13189354e+01] [ 1.64901818e-01 4.19362092e-04 9.86309898e-01 3.63590911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48864 meters Centerline goodness : 0.996722 with order 1 Centerline is valid? [True, True] Translation: X:317.24, Y:71.35, Z:36.37 [[ 8.24104756e-01 -5.49497648e-01 -1.37490681e-01 3.17244768e+02] [ 5.41902981e-01 8.35495099e-01 -9.10444831e-02 7.13532752e+01] [ 1.64901519e-01 5.23581768e-04 9.86309898e-01 3.63699746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54864 meters Centerline goodness : 0.997797 with order 1 Centerline is valid? [True, True] Translation: X:317.29, Y:71.39, Z:36.38 [[ 8.24820835e-01 -5.48433166e-01 -1.37446908e-01 3.17292432e+02] [ 5.40812794e-01 8.36193994e-01 -9.11105186e-02 7.13862812e+01] [ 1.64900309e-01 8.16807760e-04 9.86309901e-01 3.63804169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60864 meters Centerline goodness : 0.997897 with order 1 Centerline is valid? [True, True] Translation: X:317.34, Y:71.42, Z:36.39 [[ 8.24872372e-01 -5.48366683e-01 -1.37402875e-01 3.17339533e+02] [ 5.40734340e-01 8.36237497e-01 -9.11768761e-02 7.14187598e+01] [ 1.64899798e-01 9.10832962e-04 9.86309904e-01 3.63887590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66864 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:317.39, Y:71.45, Z:36.40 [[ 8.23781413e-01 -5.50016870e-01 -1.37352195e-01 3.17386510e+02] [ 5.42394572e-01 8.35153272e-01 -9.12531604e-02 7.14509705e+01] [ 1.64900913e-01 6.73572430e-04 9.86309908e-01 3.63987606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72864 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:317.43, Y:71.49, Z:36.41 [[ 8.23901749e-01 -5.49849298e-01 -1.37301339e-01 3.17432802e+02] [ 5.42211943e-01 8.35263497e-01 -9.13296165e-02 7.14864066e+01] [ 1.64900322e-01 8.00204974e-04 9.86309912e-01 3.64090128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78864 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:317.48, Y:71.52, Z:36.42 [[ 8.23147221e-01 -5.50981308e-01 -1.37288929e-01 3.17479065e+02] [ 5.43356468e-01 8.34517371e-01 -9.13482673e-02 7.15206766e+01] [ 1.64901184e-01 5.96244590e-04 9.86309913e-01 3.64190587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84863999999993 meters Centerline goodness : 0.994752 with order 1 Centerline is valid? [True, True] Translation: X:317.52, Y:71.55, Z:36.45 [[ 8.19662602e-01 -5.56155005e-01 -1.37276473e-01 3.17524930e+02] [ 5.48598797e-01 8.31078477e-01 -9.13669826e-02 7.15515389e+01] [ 1.64901727e-01 -4.19609307e-04 9.86309913e-01 3.64456187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90863999999993 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:317.58, Y:71.58, Z:36.44 [[ 8.16754575e-01 -5.60420012e-01 -1.37263885e-01 3.17576956e+02] [ 5.52920236e-01 8.28207602e-01 -9.13858904e-02 7.15825681e+01] [ 1.64897475e-01 -1.25613546e-03 9.86309913e-01 3.64374208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:317.63, Y:71.61, Z:36.45 [[ 8.14734976e-01 -5.63355817e-01 -1.37248466e-01 3.17625509e+02] [ 5.55893409e-01 8.26212385e-01 -9.14090409e-02 7.16143632e+01] [ 1.64892198e-01 -1.82137511e-03 9.86309914e-01 3.64470901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02863999999994 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:317.67, Y:71.64, Z:36.46 [[ 8.15419666e-01 -5.62367293e-01 -1.37236274e-01 3.17674595e+02] [ 5.54887890e-01 8.26886008e-01 -9.14273422e-02 7.16440198e+01] [ 1.64894502e-01 -1.59909378e-03 9.86309914e-01 3.64580435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08863999999994 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:317.72, Y:71.67, Z:36.47 [[ 8.15190379e-01 -5.62703357e-01 -1.37220912e-01 3.17724054e+02] [ 5.55224801e-01 8.26657272e-01 -9.14503932e-02 7.16748580e+01] [ 1.64894108e-01 -1.63897280e-03 9.86309914e-01 3.64682827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14863999999994 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:317.78, Y:71.70, Z:36.48 [[ 8.14193320e-01 -5.64148056e-01 -1.37208631e-01 3.17775810e+02] [ 5.56686742e-01 8.25671440e-01 -9.14688154e-02 7.17013715e+01] [ 1.64891202e-01 -1.90892730e-03 9.86309914e-01 3.64768294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20863999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:317.83, Y:71.73, Z:36.49 [[ 8.12970928e-01 -5.65918610e-01 -1.37165582e-01 3.17828091e+02] [ 5.58471410e-01 8.24458207e-01 -9.15333260e-02 7.17269514e+01] [ 1.64887703e-01 -2.18912313e-03 9.86309917e-01 3.64863006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26863999999995 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:317.88, Y:71.75, Z:36.50 [[ 8.13944664e-01 -5.64527538e-01 -1.37123096e-01 3.17878935e+02] [ 5.57049990e-01 8.25412207e-01 -9.15969305e-02 7.17543558e+01] [ 1.64892067e-01 -1.82958630e-03 9.86309920e-01 3.64984725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:317.93, Y:71.78, Z:36.51 [[ 8.18789809e-01 -5.57487489e-01 -1.37080078e-01 3.17928339e+02] [ 5.49900556e-01 8.30185275e-01 -9.16612649e-02 7.17832292e+01] [ 1.64901871e-01 -3.29101426e-04 9.86309923e-01 3.65090646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38863999999995 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:317.98, Y:71.82, Z:36.52 [[ 8.25016904e-01 -5.48242565e-01 -1.37029916e-01 3.17975434e+02] [ 5.40515491e-01 8.36317807e-01 -9.17361943e-02 7.18181262e+01] [ 1.64894246e-01 1.61711851e-03 9.86309927e-01 3.65176400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44863999999995 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:318.02, Y:71.86, Z:36.53 [[ 8.28596598e-01 -5.42828226e-01 -1.36986114e-01 3.18019435e+02] [ 5.35016511e-01 8.39839156e-01 -9.18015573e-02 7.18567420e+01] [ 1.64878779e-01 2.77662535e-03 9.86309930e-01 3.65295333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50863999999996 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:318.06, Y:71.90, Z:36.54 [[ 8.28743003e-01 -5.42615821e-01 -1.36941977e-01 3.18061949e+02] [ 5.34790356e-01 8.39975991e-01 -9.18673501e-02 7.18959638e+01] [ 1.64876651e-01 2.89917490e-03 9.86309933e-01 3.65399077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56863999999996 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:318.11, Y:71.94, Z:36.55 [[ 8.27046866e-01 -5.45210300e-01 -1.36891239e-01 3.18105578e+02] [ 5.37407573e-01 8.38295655e-01 -9.19428940e-02 7.19353531e+01] [ 1.64883544e-01 2.47469371e-03 9.86309938e-01 3.65489955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62863999999996 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:318.15, Y:71.97, Z:36.56 [[ 8.23364434e-01 -5.50766684e-01 -1.36846882e-01 3.18152182e+02] [ 5.43028910e-01 8.34657997e-01 -9.20088682e-02 7.19700576e+01] [ 1.64895764e-01 1.44501645e-03 9.86309941e-01 3.65605335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:318.20, Y:72.00, Z:36.57 [[ 8.18329314e-01 -5.58223546e-01 -1.36834228e-01 3.18198988e+02] [ 5.50585537e-01 8.29690588e-01 -9.20276831e-02 7.20038508e+01] [ 1.64902091e-01 -2.99962945e-05 9.86309941e-01 3.65697660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:318.25, Y:72.04, Z:36.58 [[ 8.15836228e-01 -5.61863967e-01 -1.36821529e-01 3.18248356e+02] [ 5.54273487e-01 8.27229310e-01 -9.20465602e-02 7.20352436e+01] [ 1.64900424e-01 -7.41627325e-04 9.86309941e-01 3.65787354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80863999999997 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:318.30, Y:72.07, Z:36.59 [[ 8.13825342e-01 -5.64775711e-01 -1.36809022e-01 3.18297281e+02] [ 5.57222868e-01 8.25243409e-01 -9.20651458e-02 7.20651482e+01] [ 1.64896902e-01 -1.30816660e-03 9.86309941e-01 3.65891209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86863999999997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:318.35, Y:72.10, Z:36.60 [[ 8.13024446e-01 -5.65932566e-01 -1.36790284e-01 3.18345247e+02] [ 5.58391286e-01 8.24450153e-01 -9.20929787e-02 7.20985342e+01] [ 1.64895186e-01 -1.50865944e-03 9.86309942e-01 3.65984854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:318.40, Y:72.13, Z:36.61 [[ 8.13221874e-01 -5.65651809e-01 -1.36777979e-01 3.18395599e+02] [ 5.58103511e-01 8.24642946e-01 -9.21112506e-02 7.21274909e+01] [ 1.64895891e-01 -1.42938635e-03 9.86309942e-01 3.66066872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:318.44, Y:72.16, Z:36.62 [[ 8.13414516e-01 -5.65377745e-01 -1.36765602e-01 3.18443506e+02] [ 5.57822511e-01 8.24831000e-01 -9.21296241e-02 7.21597773e+01] [ 1.64896547e-01 -1.35135767e-03 9.86309942e-01 3.66180733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04864 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:318.49, Y:72.19, Z:36.63 [[ 8.13869365e-01 -5.64725771e-01 -1.36753282e-01 3.18492795e+02] [ 5.57158318e-01 8.25277754e-01 -9.21479070e-02 7.21894242e+01] [ 1.64897739e-01 -1.19687023e-03 9.86309943e-01 3.66287375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10864 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:318.54, Y:72.22, Z:36.64 [[ 8.14452142e-01 -5.63887984e-01 -1.36740815e-01 3.18538495e+02] [ 5.56305691e-01 8.25850672e-01 -9.21664032e-02 7.22236293e+01] [ 1.64899022e-01 -1.00456929e-03 9.86309943e-01 3.66384951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:318.58, Y:72.26, Z:36.65 [[ 8.15082401e-01 -5.62981096e-01 -1.36722218e-01 3.18583997e+02] [ 5.55381493e-01 8.26469398e-01 -9.21939838e-02 7.22596817e+01] [ 1.64900199e-01 -7.87295644e-04 9.86309943e-01 3.66489369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22864 meters Centerline goodness : 0.998875 with order 1 Centerline is valid? [True, True] Translation: X:318.63, Y:72.30, Z:36.66 [[ 8.15014703e-01 -5.63082149e-01 -1.36709646e-01 3.18627492e+02] [ 5.55480832e-01 8.26400555e-01 -9.22126218e-02 7.22986263e+01] [ 1.64900209e-01 -7.84945318e-04 9.86309944e-01 3.66610851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28864 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:318.67, Y:72.34, Z:36.67 [[ 8.12814361e-01 -5.66256751e-01 -1.36697136e-01 3.18672167e+02] [ 5.58696784e-01 8.24227709e-01 -9.22311629e-02 7.23357893e+01] [ 1.64896086e-01 -1.40543659e-03 9.86309944e-01 3.66727891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34863999999993 meters Centerline goodness : 0.997793 with order 1 Centerline is valid? [True, True] Translation: X:318.72, Y:72.37, Z:36.68 [[ 8.09915722e-01 -5.70397943e-01 -1.36684712e-01 3.18716913e+02] [ 5.62893221e-01 8.21365472e-01 -9.22495722e-02 7.23729415e+01] [ 1.64887069e-01 -2.22451866e-03 9.86309944e-01 3.66823367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40863999999993 meters Centerline goodness : 0.998090 with order 1 Centerline is valid? [True, True] Translation: X:318.77, Y:72.41, Z:36.69 [[ 8.04622040e-01 -5.77844280e-01 -1.36672459e-01 3.18765146e+02] [ 5.70442408e-01 8.16138546e-01 -9.22677212e-02 7.24055582e+01] [ 1.64860037e-01 -3.72312480e-03 9.86309944e-01 3.66934808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46863999999994 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:318.81, Y:72.44, Z:36.70 [[ 7.99585762e-01 -5.84796162e-01 -1.36660374e-01 3.18813882e+02] [ 5.77491326e-01 8.11164061e-01 -9.22856171e-02 7.24382463e+01] [ 1.64822259e-01 -5.12991530e-03 9.86309945e-01 3.67038189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52863999999994 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:318.86, Y:72.47, Z:36.71 [[ 7.98478115e-01 -5.86309012e-01 -1.36654463e-01 3.18863992e+02] [ 5.79024616e-01 8.10069283e-01 -9.22943697e-02 7.24698885e+01] [ 1.64812604e-01 -5.43126362e-03 9.86309945e-01 3.67135562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58863999999994 meters Centerline goodness : 0.998481 with order 1 Centerline is valid? [True, True] Translation: X:318.91, Y:72.50, Z:36.73 [[ 7.98412113e-01 -5.86398887e-01 -1.36654463e-01 3.18914390e+02] [ 5.79115795e-01 8.10004102e-01 -9.22943697e-02 7.25021401e+01] [ 1.64811991e-01 -5.44981531e-03 9.86309945e-01 3.67254142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64863999999994 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:318.96, Y:72.53, Z:36.74 [[ 8.00686646e-01 -5.83287976e-01 -1.36660281e-01 3.18964856e+02] [ 5.75961305e-01 8.12251140e-01 -9.22857549e-02 7.25334273e+01] [ 1.64831640e-01 -4.81906201e-03 9.86309945e-01 3.67353074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70863999999995 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:319.01, Y:72.56, Z:36.74 [[ 8.01830415e-01 -5.81715357e-01 -1.36657341e-01 3.19014041e+02] [ 5.74365262e-01 8.13380035e-01 -9.22901082e-02 7.25637505e+01] [ 1.64840926e-01 -4.49021353e-03 9.86309945e-01 3.67447935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76863999999995 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:319.07, Y:72.59, Z:36.75 [[ 8.00314672e-01 -5.83801717e-01 -1.36645460e-01 3.19065138e+02] [ 5.76478728e-01 8.11881497e-01 -9.23076952e-02 7.25925460e+01] [ 1.64829312e-01 -4.89799827e-03 9.86309945e-01 3.67546534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82863999999995 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:319.12, Y:72.62, Z:36.77 [[ 7.98353132e-01 -5.86484029e-01 -1.36633672e-01 3.19117907e+02] [ 5.79196915e-01 8.09942592e-01 -9.23251408e-02 7.26182801e+01] [ 1.64812651e-01 -5.42973603e-03 9.86309945e-01 3.67660694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88863999999995 meters Centerline goodness : 0.999264 with order 1 Centerline is valid? [True, True] Translation: X:319.17, Y:72.64, Z:36.78 [[ 7.96024042e-01 -5.89644119e-01 -1.36621882e-01 3.19171445e+02] [ 5.82400015e-01 8.07640433e-01 -9.23425848e-02 7.26417533e+01] [ 1.64790618e-01 -6.06166832e-03 9.86309945e-01 3.67770131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94863999999995 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:319.23, Y:72.66, Z:36.79 [[ 7.95493910e-01 -5.90361832e-01 -1.36610201e-01 3.19228823e+02] [ 5.83125247e-01 8.07114987e-01 -9.23598612e-02 7.26609290e+01] [ 1.64785878e-01 -6.18915035e-03 9.86309946e-01 3.67856315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00863999999996 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:319.28, Y:72.68, Z:36.80 [[ 7.98616105e-01 -5.86134093e-01 -1.36598472e-01 3.19283814e+02] [ 5.78833008e-01 8.10196767e-01 -9.23772059e-02 7.26820141e+01] [ 1.64817070e-01 -5.29377981e-03 9.86309946e-01 3.67962288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06863999999996 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:319.34, Y:72.70, Z:36.81 [[ 8.03758732e-01 -5.79073020e-01 -1.36551598e-01 3.19338400e+02] [ 5.71658400e-01 8.15267029e-01 -9.24464442e-02 7.27037324e+01] [ 1.64859257e-01 -3.75623102e-03 9.86309949e-01 3.68050678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:319.39, Y:72.73, Z:36.81 [[ 8.06294259e-01 -5.75548852e-01 -1.36503065e-01 3.19391660e+02] [ 5.68071804e-01 8.17762090e-01 -9.25180518e-02 7.27283556e+01] [ 1.64875690e-01 -2.94676801e-03 9.86309953e-01 3.68134032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18863999999996 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:319.44, Y:72.75, Z:36.82 [[ 8.06178736e-01 -5.75721573e-01 -1.36457010e-01 3.19444924e+02] [ 5.68235496e-01 8.17640671e-01 -9.25859303e-02 7.27523571e+01] [ 1.64876518e-01 -2.89890833e-03 9.86309956e-01 3.68230316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24863999999997 meters Centerline goodness : 0.999558 with order 1 Centerline is valid? [True, True] Translation: X:319.49, Y:72.78, Z:36.83 [[ 8.07936029e-01 -5.73264688e-01 -1.36407366e-01 3.19494308e+02] [ 5.65731415e-01 8.19366995e-01 -9.26590137e-02 7.27828474e+01] [ 1.64885835e-01 -2.30737681e-03 9.86309960e-01 3.68317059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30863999999997 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:319.54, Y:72.81, Z:36.84 [[ 8.09625436e-01 -5.70886660e-01 -1.36363758e-01 3.19543153e+02] [ 5.63309008e-01 8.21027028e-01 -9.27231472e-02 7.28127638e+01] [ 1.64892739e-01 -1.74391484e-03 9.86309963e-01 3.68399265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36863999999997 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:319.60, Y:72.84, Z:36.85 [[ 8.11770382e-01 -5.67844799e-01 -1.36312621e-01 3.19595257e+02] [ 5.60211804e-01 8.23134993e-01 -9.27982647e-02 7.28384421e+01] [ 1.64898700e-01 -1.03305643e-03 9.86309967e-01 3.68502625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42864 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:319.65, Y:72.87, Z:36.86 [[ 8.11685175e-01 -5.67978902e-01 -1.36261309e-01 3.19646012e+02] [ 5.60335144e-01 8.23042545e-01 -9.28735494e-02 7.28672947e+01] [ 1.64899071e-01 -9.67916947e-04 9.86309971e-01 3.68576030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:319.70, Y:72.90, Z:36.87 [[ 8.13677747e-01 -5.65131554e-01 -1.36216191e-01 3.19695071e+02] [ 5.57436979e-01 8.25000746e-01 -9.29396776e-02 7.28960024e+01] [ 1.64901603e-01 -3.08994229e-04 9.86309974e-01 3.68671726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:319.74, Y:72.93, Z:36.88 [[ 8.18769444e-01 -5.57734610e-01 -1.36193620e-01 3.19742323e+02] [ 5.49932239e-01 8.30018434e-01 -9.29727402e-02 7.29280867e+01] [ 1.64897331e-01 1.22597605e-03 9.86309975e-01 3.68756209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:319.79, Y:72.96, Z:36.88 [[ 8.22419918e-01 -5.52350390e-01 -1.36141559e-01 3.19788751e+02] [ 5.44461771e-01 8.33608589e-01 -9.30489134e-02 7.29638329e+01] [ 1.64884377e-01 2.40140545e-03 9.86309979e-01 3.68836014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:319.84, Y:73.00, Z:36.89 [[ 8.23772954e-01 -5.50341575e-01 -1.36096552e-01 3.19836172e+02] [ 5.42414807e-01 8.34934626e-01 -9.31146966e-02 7.29960711e+01] [ 1.64876613e-01 2.88458361e-03 9.86309983e-01 3.68915851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:319.88, Y:73.03, Z:36.90 [[ 8.25727318e-01 -5.47417693e-01 -1.36045090e-01 3.19881913e+02] [ 5.39439033e-01 8.36851950e-01 -9.31898261e-02 7.30326672e+01] [ 1.64863358e-01 3.56135345e-03 9.86309987e-01 3.69007697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78864 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:319.93, Y:73.06, Z:36.91 [[ 8.27700798e-01 -5.44440327e-01 -1.36000440e-01 3.19929751e+02] [ 5.36410963e-01 8.38788886e-01 -9.32549426e-02 7.30649236e+01] [ 1.64847409e-01 4.23506318e-03 9.86309990e-01 3.69100013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84863999999993 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:319.97, Y:73.11, Z:36.92 [[ 8.30486668e-01 -5.40193846e-01 -1.35950369e-01 3.19973267e+02] [ 5.32095871e-01 8.41524741e-01 -9.33278820e-02 7.31051923e+01] [ 1.64820747e-01 5.16893159e-03 9.86309994e-01 3.69188620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90863999999993 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:320.02, Y:73.15, Z:36.93 [[ 8.32639401e-01 -5.36875768e-01 -1.35926590e-01 3.20016791e+02] [ 5.28728172e-01 8.43640897e-01 -9.33625028e-02 7.31451173e+01] [ 1.64797296e-01 5.86908105e-03 9.86309995e-01 3.69258593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96863999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:320.06, Y:73.18, Z:36.94 [[ 8.30761890e-01 -5.39787319e-01 -1.35883524e-01 3.20060590e+02] [ 5.31668055e-01 8.41784309e-01 -9.34251419e-02 7.31836646e+01] [ 1.64814325e-01 5.36911878e-03 9.86309997e-01 3.69363352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02863999999994 meters Centerline goodness : 0.996868 with order 1 Centerline is valid? [True, True] Translation: X:320.10, Y:73.22, Z:36.96 [[ 8.29962850e-01 -5.41025722e-01 -1.35841217e-01 3.20102570e+02] [ 5.32912856e-01 8.40989976e-01 -9.34866170e-02 7.32215247e+01] [ 1.64819766e-01 5.19888823e-03 9.86310000e-01 3.69627424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08863999999994 meters Centerline goodness : 0.995836 with order 1 Centerline is valid? [True, True] Translation: X:320.15, Y:73.26, Z:36.97 [[ 8.28906794e-01 -5.42643859e-01 -1.35835081e-01 3.20147962e+02] [ 5.34551063e-01 8.39948657e-01 -9.34955306e-02 7.32573775e+01] [ 1.64829270e-01 4.88829331e-03 9.86310000e-01 3.69745468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14863999999994 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:320.20, Y:73.29, Z:36.97 [[ 8.26599326e-01 -5.46155439e-01 -1.35822645e-01 3.20196489e+02] [ 5.38106593e-01 8.37673267e-01 -9.35135946e-02 7.32934103e+01] [ 1.64847957e-01 4.21121383e-03 9.86310000e-01 3.69670519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20863999999995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:320.25, Y:73.32, Z:36.98 [[ 8.25324113e-01 -5.48084424e-01 -1.35807116e-01 3.20245922e+02] [ 5.40057755e-01 8.36414139e-01 -9.35361404e-02 7.33247991e+01] [ 1.64856694e-01 3.85394564e-03 9.86310001e-01 3.69763619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26863999999995 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:320.29, Y:73.36, Z:36.99 [[ 8.25422346e-01 -5.47947391e-01 -1.35763059e-01 3.20290015e+02] [ 5.39908377e-01 8.36503422e-01 -9.36000448e-02 7.33614522e+01] [ 1.64854164e-01 3.95995574e-03 9.86310004e-01 3.69858550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32863999999995 meters Centerline goodness : 0.996810 with order 1 Centerline is valid? [True, True] Translation: X:320.33, Y:73.39, Z:37.01 [[ 8.28530676e-01 -5.43248727e-01 -1.35711969e-01 3.20334586e+02] [ 5.35134774e-01 8.39556993e-01 -9.36740630e-02 7.33947204e+01] [ 1.64826248e-01 4.98764081e-03 9.86310008e-01 3.70094848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38863999999995 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:320.38, Y:73.44, Z:37.01 [[ 8.30448942e-01 -5.40322853e-01 -1.35667865e-01 3.20377585e+02] [ 5.32159644e-01 8.41438839e-01 -9.37378959e-02 7.34376656e+01] [ 1.64804938e-01 5.64757355e-03 9.86310011e-01 3.70059595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44863999999995 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:320.42, Y:73.47, Z:37.02 [[ 8.30241408e-01 -5.40652609e-01 -1.35624339e-01 3.20423538e+02] [ 5.32483501e-01 8.41226917e-01 -9.38008311e-02 7.34723225e+01] [ 1.64804508e-01 5.65961152e-03 9.86310014e-01 3.70154552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50863999999996 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:320.47, Y:73.51, Z:37.02 [[ 8.28440660e-01 -5.43420242e-01 -1.35574750e-01 3.20466781e+02] [ 5.35276134e-01 8.39444711e-01 -9.38724502e-02 7.35099662e+01] [ 1.64819696e-01 5.19782657e-03 9.86310017e-01 3.70245025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56863999999996 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:320.51, Y:73.55, Z:37.03 [[ 8.25784539e-01 -5.47460387e-01 -1.35524977e-01 3.20511390e+02] [ 5.39358353e-01 8.36819601e-01 -9.39442543e-02 7.35461855e+01] [ 1.64840715e-01 4.48118437e-03 9.86310021e-01 3.70341883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62863999999996 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:320.56, Y:73.58, Z:37.04 [[ 8.23561121e-01 -5.50811840e-01 -1.35474710e-01 3.20556870e+02] [ 5.42742812e-01 8.34620334e-01 -9.40166886e-02 7.35829534e+01] [ 1.64855453e-01 3.90056457e-03 9.86310025e-01 3.70435393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68863999999996 meters Centerline goodness : 0.994461 with order 1 Centerline is valid? [True, True] Translation: X:320.60, Y:73.62, Z:37.07 [[ 8.22531207e-01 -5.52359496e-01 -1.35430426e-01 3.20600508e+02] [ 5.44300788e-01 8.33597939e-01 -9.40804365e-02 7.36178903e+01] [ 1.64860747e-01 3.66920733e-03 9.86310028e-01 3.70689436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74863999999997 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:320.65, Y:73.66, Z:37.06 [[ 8.20382026e-01 -5.55557400e-01 -1.35385773e-01 3.20648184e+02] [ 5.47531241e-01 8.31472384e-01 -9.41446515e-02 7.36558767e+01] [ 1.64872289e-01 3.10663960e-03 9.86310031e-01 3.70645077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80863999999997 meters Centerline goodness : 0.998924 with order 1 Centerline is valid? [True, True] Translation: X:320.70, Y:73.69, Z:37.07 [[ 8.15335673e-01 -5.62943176e-01 -1.35361444e-01 3.20695581e+02] [ 5.55011691e-01 8.26493933e-01 -9.41796192e-02 7.36892430e+01] [ 1.64893186e-01 1.66081925e-03 9.86310032e-01 3.70731811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86863999999997 meters Centerline goodness : 0.999119 with order 1 Centerline is valid? [True, True] Translation: X:320.74, Y:73.72, Z:37.08 [[ 8.09706990e-01 -5.71020390e-01 -1.35315572e-01 3.20741274e+02] [ 5.63189210e-01 8.20935870e-01 -9.42454823e-02 7.37246394e+01] [ 1.64901499e-01 1.02955825e-04 9.86310035e-01 3.70813396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92864 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:320.79, Y:73.75, Z:37.09 [[ 8.05177841e-01 -5.77393865e-01 -1.35295855e-01 3.20791978e+02] [ 5.69646806e-01 8.16464923e-01 -9.42737787e-02 7.37529858e+01] [ 1.64897421e-01 -1.16369407e-03 9.86310036e-01 3.70912397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98864 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:320.84, Y:73.78, Z:37.10 [[ 8.02881754e-01 -5.80585393e-01 -1.35283000e-01 3.20842871e+02] [ 5.72880092e-01 8.14197382e-01 -9.42922223e-02 7.37823942e+01] [ 1.64891751e-01 -1.79543262e-03 9.86310036e-01 3.70997763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:320.89, Y:73.81, Z:37.11 [[ 8.02658172e-01 -5.80897377e-01 -1.35270457e-01 3.20894307e+02] [ 5.73193442e-01 8.13974731e-01 -9.43102128e-02 7.38092543e+01] [ 1.64891289e-01 -1.83727580e-03 9.86310036e-01 3.71097120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:320.94, Y:73.84, Z:37.12 [[ 8.03798987e-01 -5.79320696e-01 -1.35257974e-01 3.20943917e+02] [ 5.71591550e-01 8.15098342e-01 -9.43281121e-02 7.38388645e+01] [ 1.64894778e-01 -1.49147420e-03 9.86310036e-01 3.71200967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16864 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:320.99, Y:73.87, Z:37.13 [[ 8.05512452e-01 -5.76938793e-01 -1.35245402e-01 3.20994324e+02] [ 5.69173208e-01 8.16786794e-01 -9.43461339e-02 7.38684211e+01] [ 1.64898603e-01 -9.81073887e-04 9.86310037e-01 3.71281926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22864 meters Centerline goodness : 0.997164 with order 1 Centerline is valid? [True, True] Translation: X:321.04, Y:73.90, Z:37.15 [[ 8.05700495e-01 -5.76686572e-01 -1.35201001e-01 3.21038970e+02] [ 5.68906785e-01 8.16965039e-01 -9.44097206e-02 7.38999755e+01] [ 1.64899309e-01 -8.50808269e-04 9.86310039e-01 3.71546011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:321.09, Y:73.94, Z:37.15 [[ 8.06438349e-01 -5.75658057e-01 -1.35185019e-01 3.21088687e+02] [ 5.67860069e-01 8.17690300e-01 -9.44325991e-02 7.39358456e+01] [ 1.64900366e-01 -6.12105150e-04 9.86310040e-01 3.71482359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34863999999993 meters Centerline goodness : 0.998042 with order 1 Centerline is valid? [True, True] Translation: X:321.13, Y:73.97, Z:37.17 [[ 8.07621978e-01 -5.74006172e-01 -1.35143091e-01 3.21131791e+02] [ 5.66175132e-01 8.18850948e-01 -9.44925656e-02 7.39729548e+01] [ 1.64901364e-01 -2.00384728e-04 9.86310043e-01 3.71720626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40863999999993 meters Centerline goodness : 0.997506 with order 1 Centerline is valid? [True, True] Translation: X:321.18, Y:74.01, Z:37.18 [[ 8.07319132e-01 -5.74433551e-01 -1.35136651e-01 3.21176467e+02] [ 5.66606915e-01 8.18551171e-01 -9.45017749e-02 7.40097293e+01] [ 1.64901254e-01 -2.76269995e-04 9.86310043e-01 3.71849836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46863999999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:321.23, Y:74.05, Z:37.18 [[ 8.05737111e-01 -5.76653528e-01 -1.35123711e-01 3.21225825e+02] [ 5.68854735e-01 8.16988500e-01 -9.45202736e-02 7.40461495e+01] [ 1.64899967e-01 -7.07270716e-04 9.86310043e-01 3.71768371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:321.27, Y:74.08, Z:37.19 [[ 8.04313750e-01 -5.78640167e-01 -1.35110878e-01 3.21272925e+02] [ 5.70866083e-01 8.15582225e-01 -9.45386140e-02 7.40801920e+01] [ 1.64897870e-01 -1.09151066e-03 9.86310043e-01 3.71864118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.32, Y:74.11, Z:37.20 [[ 8.03003869e-01 -5.80459555e-01 -1.35098078e-01 3.21321977e+02] [ 5.72707925e-01 8.14287802e-01 -9.45569024e-02 7.41110649e+01] [ 1.64895174e-01 -1.44218147e-03 9.86310043e-01 3.71951964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.37, Y:74.14, Z:37.21 [[ 8.00834217e-01 -5.83452241e-01 -1.35085308e-01 3.21369477e+02] [ 5.75739699e-01 8.12144902e-01 -9.45751425e-02 7.41432189e+01] [ 1.64888923e-01 -2.03496423e-03 9.86310044e-01 3.72060478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:321.42, Y:74.17, Z:37.21 [[ 7.93210856e-01 -5.93777633e-01 -1.35072797e-01 3.21423000e+02] [ 5.86209223e-01 8.04618487e-01 -9.45930068e-02 7.41680041e+01] [ 1.64849282e-01 -4.14871966e-03 9.86310044e-01 3.72137113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:321.47, Y:74.20, Z:37.22 [[ 7.89634878e-01 -5.98534761e-01 -1.35029254e-01 3.21472170e+02] [ 5.91024448e-01 8.01080838e-01 -9.46551235e-02 7.41978161e+01] [ 1.64823730e-01 -5.06260357e-03 9.86310047e-01 3.72249905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:321.52, Y:74.22, Z:37.24 [[ 7.86878746e-01 -6.02156304e-01 -1.35017126e-01 3.21524917e+02] [ 5.94695694e-01 7.98357166e-01 -9.46724202e-02 7.42236173e+01] [ 1.64799485e-01 -5.79838813e-03 9.86310047e-01 3.72352542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88863999999995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:321.58, Y:74.25, Z:37.24 [[ 7.87971774e-01 -6.00734724e-01 -1.34975091e-01 3.21575224e+02] [ 5.93243159e-01 7.99430011e-01 -9.47323121e-02 7.42519670e+01] [ 1.64812128e-01 -5.42666165e-03 9.86310049e-01 3.72444100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:321.63, Y:74.28, Z:37.26 [[ 7.88606414e-01 -5.99912195e-01 -1.34926951e-01 3.21628397e+02] [ 5.92396971e-01 8.00049143e-01 -9.48008304e-02 7.42758794e+01] [ 1.64820365e-01 -5.16977390e-03 9.86310053e-01 3.72559115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:321.68, Y:74.30, Z:37.26 [[ 7.89448136e-01 -5.98813643e-01 -1.34884623e-01 3.21682370e+02] [ 5.91272223e-01 8.00873614e-01 -9.48610172e-02 7.42997489e+01] [ 1.64829607e-01 -4.86567776e-03 9.86310056e-01 3.72642213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:321.74, Y:74.32, Z:37.27 [[ 7.90462384e-01 -5.97483821e-01 -1.34841771e-01 3.21735955e+02] [ 5.89912804e-01 8.01868268e-01 -9.49218917e-02 7.43249201e+01] [ 1.64839632e-01 -4.51270251e-03 9.86310058e-01 3.72749997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:321.79, Y:74.35, Z:37.29 [[ 7.94716924e-01 -5.91822833e-01 -1.34798909e-01 3.21789703e+02] [ 5.84160230e-01 8.06061479e-01 -9.49827224e-02 7.43485239e+01] [ 1.64869152e-01 -3.25978461e-03 9.86310061e-01 3.72857168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:321.84, Y:74.38, Z:37.29 [[ 8.02567807e-01 -5.81141919e-01 -1.34755277e-01 3.21838067e+02] [ 5.73317899e-01 8.13801643e-01 -9.50445852e-02 7.43790668e+01] [ 1.64898458e-01 -9.77887782e-04 9.86310064e-01 3.72944909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:321.89, Y:74.41, Z:37.30 [[ 8.10267833e-01 -5.70369225e-01 -1.34703326e-01 3.21886916e+02] [ 5.62383607e-01 8.21387372e-01 -9.51181569e-02 7.44100559e+01] [ 1.64896081e-01 1.31624026e-03 9.86310068e-01 3.73040188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:321.93, Y:74.44, Z:37.31 [[ 8.12605794e-01 -5.67044198e-01 -1.34657715e-01 3.21933357e+02] [ 5.59002390e-01 8.23684760e-01 -9.51826854e-02 7.44427207e+01] [ 1.64888297e-01 2.07201708e-03 9.86310071e-01 3.73140806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36863999999997 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:321.98, Y:74.48, Z:37.32 [[ 8.13366192e-01 -5.65965564e-01 -1.34604672e-01 3.21979492e+02] [ 5.57896661e-01 8.24425435e-01 -9.52576399e-02 7.44772971e+01] [ 1.64884059e-01 2.38384686e-03 9.86310075e-01 3.73226079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42864 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:322.02, Y:74.52, Z:37.33 [[ 8.14911446e-01 -5.63750835e-01 -1.34552336e-01 3.22022354e+02] [ 5.55639683e-01 8.25939735e-01 -9.53315091e-02 7.45174464e+01] [ 1.64875338e-01 2.92412072e-03 9.86310079e-01 3.73322897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48864 meters Centerline goodness : 0.998141 with order 1 Centerline is valid? [True, True] Translation: X:322.07, Y:74.56, Z:37.34 [[ 8.13740751e-01 -5.65450250e-01 -1.34506524e-01 3.22066135e+02] [ 5.57351456e-01 8.24778114e-01 -9.53961043e-02 7.45558394e+01] [ 1.64879788e-01 2.66029073e-03 9.86310082e-01 3.73432003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54864 meters Centerline goodness : 0.993878 with order 1 Centerline is valid? [True, True] Translation: X:322.11, Y:74.59, Z:37.37 [[ 8.10585945e-01 -5.69974292e-01 -1.34460897e-01 3.22107492e+02] [ 5.61926444e-01 8.21660507e-01 -9.54603727e-02 7.45934215e+01] [ 1.64891167e-01 1.82170277e-03 9.86310085e-01 3.73701513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60864 meters Centerline goodness : 0.996771 with order 1 Centerline is valid? [True, True] Translation: X:322.15, Y:74.64, Z:37.36 [[ 8.10519377e-01 -5.70079014e-01 -1.34418217e-01 3.22154018e+02] [ 5.62022637e-01 8.21587732e-01 -9.55204334e-02 7.46353574e+01] [ 1.64890553e-01 1.87508143e-03 9.86310088e-01 3.73603019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66864 meters Centerline goodness : 0.996282 with order 1 Centerline is valid? [True, True] Translation: X:322.20, Y:74.68, Z:37.37 [[ 8.10949498e-01 -5.69468573e-01 -1.34411516e-01 3.22196175e+02] [ 5.61402303e-01 8.22010645e-01 -9.55298614e-02 7.46752459e+01] [ 1.64888951e-01 2.01095836e-03 9.86310088e-01 3.73710869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72864 meters Centerline goodness : 0.996279 with order 1 Centerline is valid? [True, True] Translation: X:322.24, Y:74.71, Z:37.38 [[ 8.11772115e-01 -5.68306300e-01 -1.34365109e-01 3.22238222e+02] [ 5.60213397e-01 8.22813787e-01 -9.55950910e-02 7.47143727e+01] [ 1.64884757e-01 2.32829508e-03 9.86310091e-01 3.73806032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78864 meters Centerline goodness : 0.996819 with order 1 Centerline is valid? [True, True] Translation: X:322.28, Y:74.75, Z:37.39 [[ 8.09939159e-01 -5.70928014e-01 -1.34312177e-01 3.22282747e+02] [ 5.62858531e-01 8.20997953e-01 -9.56694047e-02 7.47500237e+01] [ 1.64890365e-01 1.88764281e-03 9.86310095e-01 3.73909990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84863999999993 meters Centerline goodness : 0.995742 with order 1 Centerline is valid? [True, True] Translation: X:322.32, Y:74.79, Z:37.40 [[ 8.05446554e-01 -5.77261079e-01 -1.34259065e-01 3.22324058e+02] [ 5.69266137e-01 8.16559351e-01 -9.57438831e-02 7.47912148e+01] [ 1.64899712e-01 6.87441539e-04 9.86310099e-01 3.74011461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90863999999993 meters Centerline goodness : 0.993039 with order 1 Centerline is valid? [True, True] Translation: X:322.37, Y:74.83, Z:37.43 [[ 8.02131257e-01 -5.81869914e-01 -1.34211958e-01 3.22367370e+02] [ 5.73927780e-01 8.13281853e-01 -9.58098720e-02 7.48264896e+01] [ 1.64901032e-01 -1.75878089e-04 9.86310103e-01 3.74315204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96863999999994 meters Centerline goodness : 0.995352 with order 1 Centerline is valid? [True, True] Translation: X:322.42, Y:74.87, Z:37.42 [[ 7.99927065e-01 -5.84897200e-01 -1.34208632e-01 3.22415468e+02] [ 5.76996481e-01 8.11107044e-01 -9.58145310e-02 7.48665964e+01] [ 1.64899218e-01 -7.93271889e-04 9.86310103e-01 3.74205560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02863999999994 meters Centerline goodness : 0.995495 with order 1 Centerline is valid? [True, True] Translation: X:322.46, Y:74.90, Z:37.43 [[ 7.97768704e-01 -5.87839193e-01 -1.34202005e-01 3.22460619e+02] [ 5.79978140e-01 8.08976609e-01 -9.58238122e-02 7.49021001e+01] [ 1.64895275e-01 -1.38899076e-03 9.86310103e-01 3.74316631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08863999999994 meters Centerline goodness : 0.995892 with order 1 Centerline is valid? [True, True] Translation: X:322.51, Y:74.93, Z:37.44 [[ 7.96492581e-01 -5.89577420e-01 -1.34156756e-01 3.22508272e+02] [ 5.81730162e-01 8.07710145e-01 -9.58871210e-02 7.49348736e+01] [ 1.64892654e-01 -1.66965111e-03 9.86310106e-01 3.74416040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14863999999994 meters Centerline goodness : 0.995642 with order 1 Centerline is valid? [True, True] Translation: X:322.56, Y:74.97, Z:37.45 [[ 7.96085795e-01 -5.90129502e-01 -1.34143872e-01 3.22555347e+02] [ 5.82286987e-01 8.07306675e-01 -9.59051423e-02 7.49670068e+01] [ 1.64891697e-01 -1.76150972e-03 9.86310106e-01 3.74498992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20863999999995 meters Centerline goodness : 0.995986 with order 1 Centerline is valid? [True, True] Translation: X:322.60, Y:75.00, Z:37.46 [[ 7.97344826e-01 -5.88431640e-01 -1.34124696e-01 3.22601334e+02] [ 5.80560721e-01 8.08545799e-01 -9.59319532e-02 7.50007630e+01] [ 1.64895356e-01 -1.37668359e-03 9.86310107e-01 3.74593564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26863999999995 meters Centerline goodness : 0.996134 with order 1 Centerline is valid? [True, True] Translation: X:322.65, Y:75.03, Z:37.47 [[ 7.98775138e-01 -5.86492991e-01 -1.34105372e-01 3.22648865e+02] [ 5.78590352e-01 8.09953754e-01 -9.59589586e-02 7.50338408e+01] [ 1.64898406e-01 -9.42444161e-04 9.86310107e-01 3.74701000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32863999999995 meters Centerline goodness : 0.995941 with order 1 Centerline is valid? [True, True] Translation: X:322.69, Y:75.07, Z:37.48 [[ 8.01746318e-01 -5.82427728e-01 -1.34092443e-01 3.22692915e+02] [ 5.74465383e-01 8.12882486e-01 -9.59770222e-02 7.50699777e+01] [ 1.64901077e-01 -8.22425833e-05 9.86310107e-01 3.74790722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38863999999995 meters Centerline goodness : 0.993056 with order 1 Centerline is valid? [True, True] Translation: X:322.74, Y:75.10, Z:37.51 [[ 8.02247265e-01 -5.81742034e-01 -1.34072859e-01 3.22737899e+02] [ 5.73765600e-01 8.13373344e-01 -9.60043720e-02 7.51027272e+01] [ 1.64901069e-01 9.28503058e-05 9.86310108e-01 3.75060819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44863999999995 meters Centerline goodness : 0.995395 with order 1 Centerline is valid? [True, True] Translation: X:322.78, Y:75.14, Z:37.50 [[ 8.02589130e-01 -5.81275622e-01 -1.34049766e-01 3.22782072e+02] [ 5.73287337e-01 8.13706703e-01 -9.60366060e-02 7.51446762e+01] [ 1.64900931e-01 2.28902576e-04 9.86310109e-01 3.75003388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50863999999996 meters Centerline goodness : 0.995989 with order 1 Centerline is valid? [True, True] Translation: X:322.83, Y:75.18, Z:37.51 [[ 8.02368581e-01 -5.81591060e-01 -1.34001860e-01 3.22826937e+02] [ 5.73595989e-01 8.13481271e-01 -9.61034046e-02 7.51811416e+01] [ 1.64900884e-01 2.47422946e-04 9.86310112e-01 3.75089474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56863999999996 meters Centerline goodness : 0.992422 with order 1 Centerline is valid? [True, True] Translation: X:322.87, Y:75.21, Z:37.54 [[ 8.00410417e-01 -5.84287566e-01 -1.33982102e-01 3.22871254e+02] [ 5.76325322e-01 8.11546650e-01 -9.61309423e-02 7.52140392e+01] [ 1.64900841e-01 -2.73070560e-04 9.86310113e-01 3.75360573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62863999999996 meters Centerline goodness : 0.998387 with order 1 Centerline is valid? [True, True] Translation: X:322.92, Y:75.25, Z:37.53 [[ 7.97010362e-01 -5.88920028e-01 -1.33968963e-01 3.22922017e+02] [ 5.81019429e-01 8.08190414e-01 -9.61492502e-02 7.52480794e+01] [ 1.64896651e-01 -1.20662151e-03 9.86310113e-01 3.75291320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68863999999996 meters Centerline goodness : 0.995796 with order 1 Centerline is valid? [True, True] Translation: X:322.97, Y:75.28, Z:37.56 [[ 7.97883777e-01 -5.87739157e-01 -1.33955821e-01 3.22967236e+02] [ 5.79818937e-01 8.09049937e-01 -9.61675563e-02 7.52793184e+01] [ 1.64898387e-01 -9.39588551e-04 9.86310113e-01 3.75556995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:323.02, Y:75.31, Z:37.55 [[ 7.97008742e-01 -5.88928143e-01 -1.33942929e-01 3.23018562e+02] [ 5.81021564e-01 8.08184564e-01 -9.61855087e-02 7.53129142e+01] [ 1.64896961e-01 -1.16303892e-03 9.86310113e-01 3.75469999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:323.07, Y:75.35, Z:37.56 [[ 7.96284550e-01 -5.89909925e-01 -1.33929816e-01 3.23066605e+02] [ 5.82014055e-01 8.07467941e-01 -9.62037642e-02 7.53455099e+01] [ 1.64895588e-01 -1.34346409e-03 9.86310114e-01 3.75587088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:323.11, Y:75.38, Z:37.57 [[ 7.96322101e-01 -5.89862169e-01 -1.33916889e-01 3.23114155e+02] [ 5.81962603e-01 8.07502881e-01 -9.62217551e-02 7.53781827e+01] [ 1.64895847e-01 -1.31111134e-03 9.86310114e-01 3.75678429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:323.16, Y:75.41, Z:37.58 [[ 7.97665939e-01 -5.88046568e-01 -1.33904013e-01 3.23158710e+02] [ 5.80118544e-01 8.08826558e-01 -9.62396709e-02 7.54147732e+01] [ 1.64898530e-01 -9.13093547e-04 9.86310114e-01 3.75786330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98864 meters Centerline goodness : 0.995204 with order 1 Centerline is valid? [True, True] Translation: X:323.20, Y:75.45, Z:37.60 [[ 7.98464636e-01 -5.86964568e-01 -1.33891079e-01 3.23203858e+02] [ 5.79018403e-01 8.09612346e-01 -9.62576617e-02 7.54457609e+01] [ 1.64899707e-01 -6.67059873e-04 9.86310114e-01 3.76047676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04864 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:323.25, Y:75.48, Z:37.60 [[ 7.97248331e-01 -5.88619270e-01 -1.33874769e-01 3.23251094e+02] [ 5.80692434e-01 8.08409793e-01 -9.62803406e-02 7.54843906e+01] [ 1.64898138e-01 -9.80724363e-04 9.86310115e-01 3.76002174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10864 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:323.30, Y:75.52, Z:37.61 [[ 7.97495715e-01 -5.88286299e-01 -1.33864917e-01 3.23298505e+02] [ 5.80352503e-01 8.08652231e-01 -9.62940357e-02 7.55168509e+01] [ 1.64898626e-01 -8.94759020e-04 9.86310115e-01 3.76091062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16864 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:323.34, Y:75.55, Z:37.62 [[ 7.98445164e-01 -5.87001446e-01 -1.33845517e-01 3.23343122e+02] [ 5.79045179e-01 8.09585664e-01 -9.63209938e-02 7.55539904e+01] [ 1.64899975e-01 -5.95569679e-04 9.86310115e-01 3.76181189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22864 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:323.39, Y:75.59, Z:37.63 [[ 7.98455609e-01 -5.86990205e-01 -1.33832506e-01 3.23390563e+02] [ 5.79030751e-01 8.09593832e-01 -9.63390683e-02 7.55869822e+01] [ 1.64900061e-01 -5.70667262e-04 9.86310116e-01 3.76276662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28864 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:323.44, Y:75.62, Z:37.64 [[ 7.97697367e-01 -5.88023208e-01 -1.33819349e-01 3.23439060e+02] [ 5.80075112e-01 8.08843698e-01 -9.63573412e-02 7.56187580e+01] [ 1.64899290e-01 -7.61276412e-04 9.86310116e-01 3.76385274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34863999999993 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:323.49, Y:75.65, Z:37.65 [[ 7.97591170e-01 -5.88170205e-01 -1.33806336e-01 3.23486289e+02] [ 5.80221132e-01 8.08736804e-01 -9.63754086e-02 7.56533361e+01] [ 1.64899252e-01 -7.69088520e-04 9.86310116e-01 3.76481983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40863999999993 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:323.54, Y:75.68, Z:37.66 [[ 7.97582569e-01 -5.88184086e-01 -1.33796584e-01 3.23536926e+02] [ 5.80232936e-01 8.08726722e-01 -9.63889443e-02 7.56821494e+01] [ 1.64899316e-01 -7.55043137e-04 9.86310116e-01 3.76560786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46863999999994 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:323.58, Y:75.71, Z:37.67 [[ 7.97561291e-01 -5.88215882e-01 -1.33783643e-01 3.23584405e+02] [ 5.80262165e-01 8.08703610e-01 -9.64069033e-02 7.57143829e+01] [ 1.64899387e-01 -7.39172011e-04 9.86310116e-01 3.76672006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52863999999994 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:323.63, Y:75.75, Z:37.68 [[ 8.00808624e-01 -5.83790196e-01 -1.33770531e-01 3.23632002e+02] [ 5.75771858e-01 8.11904532e-01 -9.64250939e-02 7.57470007e+01] [ 1.64900925e-01 1.96739693e-04 9.86310117e-01 3.76773469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58863999999994 meters Centerline goodness : 0.998290 with order 1 Centerline is valid? [True, True] Translation: X:323.68, Y:75.78, Z:37.69 [[ 8.05926657e-01 -5.76707178e-01 -1.33757450e-01 3.23678193e+02] [ 5.68588314e-01 8.16949222e-01 -9.64432362e-02 7.57818010e+01] [ 1.64892551e-01 1.67325221e-03 9.86310117e-01 3.76877088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64863999999994 meters Centerline goodness : 0.998680 with order 1 Centerline is valid? [True, True] Translation: X:323.72, Y:75.82, Z:37.70 [[ 8.08261245e-01 -5.73441426e-01 -1.33711223e-01 3.23724891e+02] [ 5.65267434e-01 8.19242987e-01 -9.65072839e-02 7.58167667e+01] [ 1.64883256e-01 2.42049735e-03 9.86310120e-01 3.76965439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70863999999995 meters Centerline goodness : 0.997701 with order 1 Centerline is valid? [True, True] Translation: X:323.77, Y:75.85, Z:37.71 [[ 8.08199641e-01 -5.73538978e-01 -1.33665184e-01 3.23770804e+02] [ 5.65355774e-01 8.19174517e-01 -9.65710082e-02 7.58511610e+01] [ 1.64882350e-01 2.48027042e-03 9.86310123e-01 3.77066658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76863999999995 meters Centerline goodness : 0.985757 with order 1 Centerline is valid? [True, True] Translation: X:323.82, Y:75.88, Z:37.73 [[ 8.06346169e-01 -5.76154332e-01 -1.33611535e-01 3.23815202e+02] [ 5.67994437e-01 8.17338381e-01 -9.66451795e-02 7.58839418e+01] [ 1.64888374e-01 2.03886194e-03 9.86310127e-01 3.77340121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82863999999995 meters Centerline goodness : 0.987032 with order 1 Centerline is valid? [True, True] Translation: X:323.87, Y:75.91, Z:37.74 [[ 8.03820634e-01 -5.79683525e-01 -1.33564215e-01 3.23865475e+02] [ 5.71561035e-01 8.14840510e-01 -9.67105326e-02 7.59134855e+01] [ 1.64895035e-01 1.39782084e-03 9.86310130e-01 3.77430014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88863999999995 meters Centerline goodness : 0.997847 with order 1 Centerline is valid? [True, True] Translation: X:323.91, Y:75.95, Z:37.74 [[ 8.00854575e-01 -5.83785377e-01 -1.33516231e-01 3.23914883e+02] [ 5.75708291e-01 8.11907770e-01 -9.67767339e-02 7.59475525e+01] [ 1.64899707e-01 6.37689060e-04 9.86310134e-01 3.77385508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94863999999995 meters Centerline goodness : 0.987753 with order 1 Centerline is valid? [True, True] Translation: X:323.96, Y:75.98, Z:37.76 [[ 8.01651357e-01 -5.82701679e-01 -1.33468554e-01 3.23960715e+02] [ 5.74598710e-01 8.12685587e-01 -9.68424434e-02 7.59783360e+01] [ 1.64898224e-01 9.43017467e-04 9.86310137e-01 3.77631403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00863999999996 meters Centerline goodness : 0.997016 with order 1 Centerline is valid? [True, True] Translation: X:324.01, Y:76.01, Z:37.76 [[ 8.03054592e-01 -5.80777190e-01 -1.33421053e-01 3.24009884e+02] [ 5.72636912e-01 8.14061323e-01 -9.69078417e-02 7.60140662e+01] [ 1.64894783e-01 1.42046728e-03 9.86310140e-01 3.77578379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06863999999996 meters Centerline goodness : 0.997408 with order 1 Centerline is valid? [True, True] Translation: X:324.06, Y:76.05, Z:37.77 [[ 8.03774597e-01 -5.79791266e-01 -1.33373480e-01 3.24057729e+02] [ 5.71626629e-01 8.14763267e-01 -9.69732738e-02 7.60471279e+01] [ 1.64892069e-01 1.70482144e-03 9.86310143e-01 3.77680881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12863999999996 meters Centerline goodness : 0.986942 with order 1 Centerline is valid? [True, True] Translation: X:324.10, Y:76.08, Z:37.79 [[ 8.02928801e-01 -5.80972784e-01 -1.33326535e-01 3.24101264e+02] [ 5.72813606e-01 8.13921522e-01 -9.70377749e-02 7.60816709e+01] [ 1.64893643e-01 1.54317094e-03 9.86310147e-01 3.77943850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18863999999996 meters Centerline goodness : 0.997552 with order 1 Centerline is valid? [True, True] Translation: X:324.15, Y:76.12, Z:37.79 [[ 8.02757026e-01 -5.81221031e-01 -1.33278919e-01 3.24148330e+02] [ 5.73054401e-01 8.13744208e-01 -9.71031320e-02 7.61191814e+01] [ 1.64893330e-01 1.57415074e-03 9.86310150e-01 3.77887856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24863999999997 meters Centerline goodness : 0.996770 with order 1 Centerline is valid? [True, True] Translation: X:324.19, Y:76.16, Z:37.80 [[ 8.04798629e-01 -5.78394720e-01 -1.33261827e-01 3.24193377e+02] [ 5.70185625e-01 8.15754118e-01 -9.71265822e-02 7.61560131e+01] [ 1.64886387e-01 2.18336202e-03 9.86310150e-01 3.77997468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30863999999997 meters Centerline goodness : 0.985722 with order 1 Centerline is valid? [True, True] Translation: X:324.24, Y:76.19, Z:37.83 [[ 8.06260685e-01 -5.76365846e-01 -1.33214562e-01 3.24236516e+02] [ 5.68118481e-01 8.17187389e-01 -9.71913666e-02 7.61926130e+01] [ 1.64879044e-01 2.67992302e-03 9.86310153e-01 3.78253613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36863999999997 meters Centerline goodness : 0.986986 with order 1 Centerline is valid? [True, True] Translation: X:324.28, Y:76.23, Z:37.83 [[ 8.06087251e-01 -5.76610525e-01 -1.33205278e-01 3.24281287e+02] [ 5.68364375e-01 8.17014873e-01 -9.72040890e-02 7.62305696e+01] [ 1.64879594e-01 2.64584223e-03 9.86310154e-01 3.78330673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42864 meters Centerline goodness : 0.997015 with order 1 Centerline is valid? [True, True] Translation: X:324.33, Y:76.27, Z:37.83 [[ 8.04915486e-01 -5.78256106e-01 -1.33157559e-01 3.24328019e+02] [ 5.70021492e-01 8.15851800e-01 -9.72694151e-02 7.62703470e+01] [ 1.64883468e-01 2.39098794e-03 9.86310157e-01 3.78281861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48864 meters Centerline goodness : 0.997506 with order 1 Centerline is valid? [True, True] Translation: X:324.37, Y:76.31, Z:37.84 [[ 8.02814736e-01 -5.81170704e-01 -1.33150714e-01 3.24373531e+02] [ 5.72974242e-01 8.13779673e-01 -9.72787852e-02 7.63063457e+01] [ 1.64890924e-01 1.80491304e-03 9.86310157e-01 3.78374000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54864 meters Centerline goodness : 0.997258 with order 1 Centerline is valid? [True, True] Translation: X:324.42, Y:76.34, Z:37.85 [[ 8.02430247e-01 -5.81704568e-01 -1.33137127e-01 3.24416713e+02] [ 5.73512317e-01 8.13398330e-01 -9.72973770e-02 7.63445757e+01] [ 1.64891845e-01 1.71857639e-03 9.86310157e-01 3.78488153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60864 meters Centerline goodness : 0.997996 with order 1 Centerline is valid? [True, True] Translation: X:324.46, Y:76.38, Z:37.86 [[ 8.03298093e-01 -5.80508588e-01 -1.33123828e-01 3.24461141e+02] [ 5.72296994e-01 8.14251700e-01 -9.73155695e-02 7.63821562e+01] [ 1.64888827e-01 1.98704499e-03 9.86310157e-01 3.78559540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66864 meters Centerline goodness : 0.997898 with order 1 Centerline is valid? [True, True] Translation: X:324.50, Y:76.42, Z:37.87 [[ 8.03976418e-01 -5.79571868e-01 -1.33110364e-01 3.24504282e+02] [ 5.71344464e-01 8.14918155e-01 -9.73339824e-02 7.64219119e+01] [ 1.64886090e-01 2.20235714e-03 9.86310158e-01 3.78665919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72864 meters Centerline goodness : 0.997996 with order 1 Centerline is valid? [True, True] Translation: X:324.55, Y:76.46, Z:37.88 [[ 8.02357441e-01 -5.81814148e-01 -1.33097083e-01 3.24550421e+02] [ 5.73614312e-01 8.13319853e-01 -9.73521388e-02 7.64574375e+01] [ 1.64891352e-01 1.76482115e-03 9.86310158e-01 3.78774940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78864 meters Centerline goodness : 0.998778 with order 1 Centerline is valid? [True, True] Translation: X:324.60, Y:76.50, Z:37.88 [[ 8.02848649e-01 -5.81139209e-01 -1.33083684e-01 3.24595144e+02] [ 5.72927121e-01 8.13801886e-01 -9.73704527e-02 7.64956749e+01] [ 1.64889541e-01 1.92648434e-03 9.86310158e-01 3.78849368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84863999999993 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:324.64, Y:76.53, Z:37.90 [[ 8.05823664e-01 -5.77009959e-01 -1.33070396e-01 3.24638978e+02] [ 5.68738752e-01 8.16732325e-01 -9.73886089e-02 7.65332515e+01] [ 1.64877092e-01 2.79575448e-03 9.86310158e-01 3.78963618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90863999999993 meters Centerline goodness : 0.998336 with order 1 Centerline is valid? [True, True] Translation: X:324.68, Y:76.57, Z:37.91 [[ 8.06407182e-01 -5.76197217e-01 -1.33057218e-01 3.24684242e+02] [ 5.67912047e-01 8.17305242e-01 -9.74066103e-02 7.65693214e+01] [ 1.64873780e-01 2.98459300e-03 9.86310159e-01 3.79056783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96863999999994 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:324.73, Y:76.60, Z:37.92 [[ 8.04813091e-01 -5.78424749e-01 -1.33043973e-01 3.24730374e+02] [ 5.70166755e-01 8.15731757e-01 -9.74246987e-02 7.66049374e+01] [ 1.64881051e-01 2.55142272e-03 9.86310159e-01 3.79158978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02863999999994 meters Centerline goodness : 0.998679 with order 1 Centerline is valid? [True, True] Translation: X:324.77, Y:76.65, Z:37.92 [[ 8.05193320e-01 -5.77898414e-01 -1.33030598e-01 3.24773917e+02] [ 5.69630267e-01 8.16104300e-01 -9.74429579e-02 7.66487616e+01] [ 1.64878974e-01 2.68216357e-03 9.86310159e-01 3.79242111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08863999999994 meters Centerline goodness : 0.998825 with order 1 Centerline is valid? [True, True] Translation: X:324.82, Y:76.69, Z:37.94 [[ 8.05519190e-01 -5.77442575e-01 -1.33037239e-01 3.24821728e+02] [ 5.69169750e-01 8.16426624e-01 -9.74338906e-02 7.66869527e+01] [ 1.64877620e-01 2.76409661e-03 9.86310159e-01 3.79355344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14863999999994 meters Centerline goodness : 0.998627 with order 1 Centerline is valid? [True, True] Translation: X:324.87, Y:76.72, Z:37.94 [[ 8.05222230e-01 -5.77845948e-01 -1.33083514e-01 3.24869432e+02] [ 5.69589034e-01 8.16141709e-01 -9.73706443e-02 7.67244084e+01] [ 1.64880239e-01 2.60209731e-03 9.86310162e-01 3.79449626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20863999999995 meters Centerline goodness : 0.998728 with order 1 Centerline is valid? [True, True] Translation: X:324.92, Y:76.76, Z:37.96 [[ 8.04262181e-01 -5.79179894e-01 -1.33090173e-01 3.24919130e+02] [ 5.70942598e-01 8.15196467e-01 -9.73615411e-02 7.67625061e+01] [ 1.64884486e-01 2.31735622e-03 9.86310162e-01 3.79555413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26863999999995 meters Centerline goodness : 0.998339 with order 1 Centerline is valid? [True, True] Translation: X:324.97, Y:76.80, Z:37.97 [[ 8.04029085e-01 -5.79491192e-01 -1.33143489e-01 3.24967524e+02] [ 5.71270206e-01 8.14975634e-01 -9.72885770e-02 7.68022574e+01] [ 1.64886573e-01 2.16193718e-03 9.86310166e-01 3.79655319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32863999999995 meters Centerline goodness : 0.998826 with order 1 Centerline is valid? [True, True] Translation: X:325.02, Y:76.84, Z:37.98 [[ 8.03333382e-01 -5.80442988e-01 -1.33196903e-01 3.25017563e+02] [ 5.72247100e-01 8.14298731e-01 -9.72153949e-02 7.68385760e+01] [ 1.64890063e-01 1.87483055e-03 9.86310170e-01 3.79751297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38863999999995 meters Centerline goodness : 0.999216 with order 1 Centerline is valid? [True, True] Translation: X:325.07, Y:76.87, Z:37.99 [[ 8.01166157e-01 -5.83420101e-01 -1.33243291e-01 3.25067519e+02] [ 5.75275540e-01 8.12169678e-01 -9.71517741e-02 7.68742724e+01] [ 1.64896459e-01 1.18310724e-03 9.86310173e-01 3.79863510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44863999999995 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:325.12, Y:76.91, Z:38.00 [[ 7.98774445e-01 -5.86679930e-01 -1.33289334e-01 3.25119862e+02] [ 5.78590820e-01 8.09818791e-01 -9.70885650e-02 7.69061436e+01] [ 1.64900120e-01 4.31879679e-04 9.86310176e-01 3.79962282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50863999999996 meters Centerline goodness : 0.987743 with order 1 Centerline is valid? [True, True] Translation: X:325.17, Y:76.93, Z:38.03 [[ 8.00786907e-01 -5.83919416e-01 -1.33335840e-01 3.25169342e+02] [ 5.75802873e-01 8.11811104e-01 -9.70246542e-02 7.69348117e+01] [ 1.64898095e-01 9.20912723e-04 9.86310179e-01 3.80266483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56863999999996 meters Centerline goodness : 0.999068 with order 1 Centerline is valid? [True, True] Translation: X:325.22, Y:76.97, Z:38.02 [[ 8.03194682e-01 -5.80601484e-01 -1.33342490e-01 3.25221459e+02] [ 5.72440919e-01 8.14186332e-01 -9.70155145e-02 7.69711522e+01] [ 1.64892985e-01 1.59164763e-03 9.86310180e-01 3.80173925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62863999999996 meters Centerline goodness : 0.999311 with order 1 Centerline is valid? [True, True] Translation: X:325.27, Y:77.00, Z:38.03 [[ 8.04610322e-01 -5.78637310e-01 -1.33345764e-01 3.25270355e+02] [ 5.70450660e-01 8.15582557e-01 -9.70110143e-02 7.70038372e+01] [ 1.64888672e-01 1.98888431e-03 9.86310180e-01 3.80257699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68863999999996 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:325.32, Y:77.04, Z:38.04 [[ 8.06355703e-01 -5.76204093e-01 -1.33339129e-01 3.25316625e+02] [ 5.67982828e-01 8.17302026e-01 -9.70201335e-02 7.70391872e+01] [ 1.64881738e-01 2.49840244e-03 9.86310180e-01 3.80368881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74863999999997 meters Centerline goodness : 0.998632 with order 1 Centerline is valid? [True, True] Translation: X:325.36, Y:77.07, Z:38.05 [[ 8.07469540e-01 -5.74645259e-01 -1.33325799e-01 3.25362621e+02] [ 5.66399839e-01 8.18397680e-01 -9.70384478e-02 7.70739706e+01] [ 1.64876209e-01 2.83987952e-03 9.86310180e-01 3.80470447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80863999999997 meters Centerline goodness : 0.990591 with order 1 Centerline is valid? [True, True] Translation: X:325.41, Y:77.11, Z:38.07 [[ 8.06996834e-01 -5.75311968e-01 -1.33312601e-01 3.25407500e+02] [ 5.67072584e-01 8.17929524e-01 -9.70565761e-02 7.71118484e+01] [ 1.64878122e-01 2.72642838e-03 9.86310180e-01 3.80708873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86863999999997 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:325.46, Y:77.15, Z:38.07 [[ 8.04354855e-01 -5.78998491e-01 -1.33319222e-01 3.25457562e+02] [ 5.70810725e-01 8.15326256e-01 -9.70474806e-02 7.71484595e+01] [ 1.64889007e-01 1.96057041e-03 9.86310180e-01 3.80667276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92864 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:325.51, Y:77.18, Z:38.08 [[ 7.99708279e-01 -5.85399568e-01 -1.33319222e-01 3.25508056e+02] [ 5.77299624e-01 8.10744677e-01 -9.70474806e-02 7.71839660e+01] [ 1.64899403e-01 6.44536928e-04 9.86310180e-01 3.80771543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98864 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:325.56, Y:77.21, Z:38.09 [[ 7.95942858e-01 -5.90498569e-01 -1.33365689e-01 3.25564220e+02] [ 5.82480029e-01 8.07038537e-01 -9.69835829e-02 7.72125107e+01] [ 1.64899918e-01 -4.89460460e-04 9.86310183e-01 3.80872204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04864 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:325.62, Y:77.24, Z:38.10 [[ 7.94351376e-01 -5.92625805e-01 -1.33418686e-01 3.25618059e+02] [ 5.84649229e-01 8.05477256e-01 -9.69106220e-02 7.72408570e+01] [ 1.64897453e-01 -1.02204611e-03 9.86310187e-01 3.80965647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10864 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:325.67, Y:77.27, Z:38.11 [[ 7.94308676e-01 -5.92681568e-01 -1.33425208e-01 3.25671319e+02] [ 5.84707281e-01 8.05436197e-01 -9.69016418e-02 7.72660982e+01] [ 1.64897309e-01 -1.04487587e-03 9.86310187e-01 3.81075673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16864 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:325.72, Y:77.29, Z:38.12 [[ 7.95185090e-01 -5.91508114e-01 -1.33412231e-01 3.25723380e+02] [ 5.83514409e-01 8.06298669e-01 -9.69195057e-02 7.72922659e+01] [ 1.64898778e-01 -7.79013167e-04 9.86310188e-01 3.81175164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22864 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:325.78, Y:77.32, Z:38.13 [[ 7.97561400e-01 -5.88303796e-01 -1.33395866e-01 3.25775366e+02] [ 5.80261672e-01 8.08639991e-01 -9.69420240e-02 7.73188687e+01] [ 1.64900593e-01 -8.72921215e-05 9.86310188e-01 3.81308763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28864 meters Centerline goodness : 0.998583 with order 1 Centerline is valid? [True, True] Translation: X:325.83, Y:77.35, Z:38.14 [[ 7.99217398e-01 -5.86055106e-01 -1.33382772e-01 3.25827297e+02] [ 5.77978804e-01 8.10271099e-01 -9.69600377e-02 7.73466606e+01] [ 1.64900130e-01 3.99734209e-04 9.86310188e-01 3.81387955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34863999999993 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:325.88, Y:77.38, Z:38.15 [[ 7.99771574e-01 -5.85301625e-01 -1.33369550e-01 3.25875002e+02] [ 5.77211877e-01 8.10815437e-01 -9.69782203e-02 7.73775840e+01] [ 1.64899600e-01 5.77935353e-04 9.86310188e-01 3.81497613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40863999999993 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:325.93, Y:77.41, Z:38.16 [[ 8.00096912e-01 -5.84861377e-01 -1.33349545e-01 3.25925595e+02] [ 5.76760968e-01 8.11132958e-01 -9.70057209e-02 7.74054315e+01] [ 1.64899110e-01 7.03165034e-04 9.86310189e-01 3.81594269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46863999999994 meters Centerline goodness : 0.987908 with order 1 Centerline is valid? [True, True] Translation: X:325.97, Y:77.44, Z:38.19 [[ 8.02951400e-01 -5.80948616e-01 -1.33295744e-01 3.25969608e+02] [ 5.72782165e-01 8.13938661e-01 -9.70795944e-02 7.74395660e+01] [ 1.64892815e-01 1.60077151e-03 9.86310193e-01 3.81876522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52863999999994 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:326.02, Y:77.47, Z:38.18 [[ 8.05753652e-01 -5.77057266e-01 -1.33289024e-01 3.26020944e+02] [ 5.68836231e-01 8.16700131e-01 -9.70888199e-02 7.74735475e+01] [ 1.64882972e-01 2.41004533e-03 9.86310193e-01 3.81793078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58863999999994 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:326.07, Y:77.51, Z:38.19 [[ 8.08430521e-01 -5.73304502e-01 -1.33274304e-01 3.26067028e+02] [ 5.65029330e-01 8.19336130e-01 -9.71090220e-02 7.75093020e+01] [ 1.64869492e-01 3.20200673e-03 9.86310194e-01 3.81900959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64863999999994 meters Centerline goodness : 0.998534 with order 1 Centerline is valid? [True, True] Translation: X:326.11, Y:77.55, Z:38.20 [[ 8.11177975e-01 -5.69421302e-01 -1.33227898e-01 3.26110448e+02] [ 5.61083488e-01 8.22035764e-01 -9.71726470e-02 7.75465874e+01] [ 1.64850272e-01 4.07233736e-03 9.86310197e-01 3.82002174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70863999999995 meters Centerline goodness : 0.998139 with order 1 Centerline is valid? [True, True] Translation: X:326.15, Y:77.59, Z:38.21 [[ 8.13045928e-01 -5.66763492e-01 -1.33174561e-01 3.26152419e+02] [ 5.58378235e-01 8.23867114e-01 -9.72456908e-02 7.75859861e+01] [ 1.64833449e-01 4.70343629e-03 9.86310201e-01 3.82103513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76863999999995 meters Centerline goodness : 0.997166 with order 1 Centerline is valid? [True, True] Translation: X:326.20, Y:77.62, Z:38.22 [[ 8.11394701e-01 -5.69137229e-01 -1.33121951e-01 3.26197496e+02] [ 5.60771836e-01 8.22231246e-01 -9.73176583e-02 7.76217464e+01] [ 1.64844130e-01 4.31199137e-03 9.86310205e-01 3.82202749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82863999999995 meters Centerline goodness : 0.995454 with order 1 Centerline is valid? [True, True] Translation: X:326.24, Y:77.66, Z:38.23 [[ 8.10179201e-01 -5.70876941e-01 -1.33075842e-01 3.26238821e+02] [ 5.62524477e-01 8.21025711e-01 -9.73806699e-02 7.76640590e+01] [ 1.64851067e-01 4.03737508e-03 9.86310208e-01 3.82297888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88863999999995 meters Centerline goodness : 0.994907 with order 1 Centerline is valid? [True, True] Translation: X:326.28, Y:77.70, Z:38.24 [[ 8.09861887e-01 -5.71337881e-01 -1.33029127e-01 3.26281715e+02] [ 5.62981123e-01 8.20705084e-01 -9.74444453e-02 7.77031641e+01] [ 1.64851384e-01 4.02365526e-03 9.86310211e-01 3.82400878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94863999999995 meters Centerline goodness : 0.993687 with order 1 Centerline is valid? [True, True] Translation: X:326.33, Y:77.74, Z:38.25 [[ 8.09433451e-01 -5.71947784e-01 -1.33015865e-01 3.26326192e+02] [ 5.63596224e-01 8.20280652e-01 -9.74625441e-02 7.77401813e+01] [ 1.64853827e-01 3.92220381e-03 9.86310211e-01 3.82501688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00863999999996 meters Centerline goodness : 0.993599 with order 1 Centerline is valid? [True, True] Translation: X:326.37, Y:77.78, Z:38.26 [[ 8.08702723e-01 -5.72983648e-01 -1.33002427e-01 3.26370235e+02] [ 5.64642969e-01 8.19558293e-01 -9.74808796e-02 7.77791806e+01] [ 1.64858192e-01 3.73416749e-03 9.86310211e-01 3.82594921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06863999999996 meters Centerline goodness : 0.994183 with order 1 Centerline is valid? [True, True] Translation: X:326.42, Y:77.82, Z:38.27 [[ 8.09069014e-01 -5.72468667e-01 -1.32992315e-01 3.26415191e+02] [ 5.64118813e-01 8.19917528e-01 -9.74946736e-02 7.78154903e+01] [ 1.64855376e-01 3.85645262e-03 9.86310211e-01 3.82691022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12863999999996 meters Centerline goodness : 0.993357 with order 1 Centerline is valid? [True, True] Translation: X:326.46, Y:77.86, Z:38.28 [[ 8.12488530e-01 -5.67608128e-01 -1.32978952e-01 3.26456892e+02] [ 5.59190410e-01 8.23284471e-01 -9.75128966e-02 7.78563201e+01] [ 1.64828619e-01 4.86755535e-03 9.86310212e-01 3.82788248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18863999999996 meters Centerline goodness : 0.991445 with order 1 Centerline is valid? [True, True] Translation: X:326.50, Y:77.90, Z:38.29 [[ 8.11294799e-01 -5.69316154e-01 -1.32965658e-01 3.26498668e+02] [ 5.60918200e-01 8.22106120e-01 -9.75310208e-02 7.78965093e+01] [ 1.64837867e-01 4.54355229e-03 9.86310212e-01 3.82892346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24863999999997 meters Centerline goodness : 0.992564 with order 1 Centerline is valid? [True, True] Translation: X:326.54, Y:77.93, Z:38.30 [[ 8.08372702e-01 -5.73460753e-01 -1.32952395e-01 3.26543414e+02] [ 5.65115269e-01 8.19224577e-01 -9.75490967e-02 7.79347200e+01] [ 1.64858448e-01 3.72259818e-03 9.86310212e-01 3.82966243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30863999999997 meters Centerline goodness : 0.984615 with order 1 Centerline is valid? [True, True] Translation: X:326.59, Y:77.97, Z:38.32 [[ 8.03377910e-01 -5.80440494e-01 -1.32938958e-01 3.26587391e+02] [ 5.72186281e-01 8.14299368e-01 -9.75674052e-02 7.79739250e+01] [ 1.64884183e-01 2.31764987e-03 9.86310212e-01 3.83201064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36863999999997 meters Centerline goodness : 0.992963 with order 1 Centerline is valid? [True, True] Translation: X:326.64, Y:78.01, Z:38.32 [[ 8.01540842e-01 -5.82972373e-01 -1.32949203e-01 3.26638022e+02] [ 5.74754975e-01 8.12490027e-01 -9.75534436e-02 7.80118422e+01] [ 1.64890864e-01 1.77985352e-03 9.86310212e-01 3.83165446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42864 meters Centerline goodness : 0.992931 with order 1 Centerline is valid? [True, True] Translation: X:326.69, Y:78.05, Z:38.33 [[ 7.99349702e-01 -5.85968111e-01 -1.32971526e-01 3.26687651e+02] [ 5.77796811e-01 8.10333332e-01 -9.75230066e-02 7.80496984e+01] [ 1.64896632e-01 1.12446259e-03 9.86310213e-01 3.83266603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48864 meters Centerline goodness : 0.994130 with order 1 Centerline is valid? [True, True] Translation: X:326.74, Y:78.09, Z:38.34 [[ 7.98473096e-01 -5.87149852e-01 -1.33025436e-01 3.26738688e+02] [ 5.79007065e-01 8.09477875e-01 -9.74494169e-02 7.80862767e+01] [ 1.64898558e-01 7.88070441e-04 9.86310217e-01 3.83355215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54864 meters Centerline goodness : 0.987072 with order 1 Centerline is valid? [True, True] Translation: X:326.78, Y:78.13, Z:38.36 [[ 7.97460319e-01 -5.88512531e-01 -1.33079077e-01 3.26782816e+02] [ 5.80400779e-01 8.08487990e-01 -9.73761098e-02 7.81255387e+01] [ 1.64899896e-01 4.14383866e-04 9.86310221e-01 3.83592786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60864 meters Centerline goodness : 0.994334 with order 1 Centerline is valid? [True, True] Translation: X:326.83, Y:78.17, Z:38.36 [[ 7.96817816e-01 -5.89371753e-01 -1.33125147e-01 3.26831281e+02] [ 5.81282419e-01 8.07861939e-01 -9.73130861e-02 7.81675218e+01] [ 1.64900323e-01 1.57493292e-04 9.86310224e-01 3.83571292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66864 meters Centerline goodness : 0.993936 with order 1 Centerline is valid? [True, True] Translation: X:326.88, Y:78.20, Z:38.37 [[ 7.90580324e-01 -5.97702615e-01 -1.33170325e-01 3.26882579e+02] [ 5.89740062e-01 8.01716196e-01 -9.72512228e-02 7.82020969e+01] [ 1.64892116e-01 -1.65097246e-03 9.86310227e-01 3.83672269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72864 meters Centerline goodness : 0.994907 with order 1 Centerline is valid? [True, True] Translation: X:326.93, Y:78.24, Z:38.38 [[ 7.82908011e-01 -6.07706211e-01 -1.33222396e-01 3.26934592e+02] [ 5.99898025e-01 7.94152654e-01 -9.71798399e-02 7.82360712e+01] [ 1.64855712e-01 -3.83697730e-03 9.86310231e-01 3.83761474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78864 meters Centerline goodness : 0.995944 with order 1 Centerline is valid? [True, True] Translation: X:326.99, Y:78.27, Z:38.39 [[ 7.80171968e-01 -6.11203587e-01 -1.33273688e-01 3.26987432e+02] [ 6.03457806e-01 7.91459684e-01 -9.71094474e-02 7.82686819e+01] [ 1.64834394e-01 -4.66297889e-03 9.86310235e-01 3.83862935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84863999999993 meters Centerline goodness : 0.997015 with order 1 Centerline is valid? [True, True] Translation: X:327.04, Y:78.30, Z:38.40 [[ 7.79587317e-01 -6.11938205e-01 -1.33323844e-01 3.27041137e+02] [ 6.04214827e-01 7.90890370e-01 -9.70405398e-02 7.82992146e+01] [ 1.64827358e-01 -4.90466917e-03 9.86310238e-01 3.83973690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90863999999993 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:327.10, Y:78.33, Z:38.41 [[ 7.80517064e-01 -6.10742558e-01 -1.33366564e-01 3.27096855e+02] [ 6.03011887e-01 7.91815127e-01 -9.69817925e-02 7.83289324e+01] [ 1.64832571e-01 -4.72567981e-03 9.86310241e-01 3.84057303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96863999999994 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:327.15, Y:78.36, Z:38.42 [[ 7.81269463e-01 -6.09768989e-01 -1.33415912e-01 3.27149575e+02] [ 6.02035824e-01 7.92565815e-01 -9.69138596e-02 7.83614350e+01] [ 1.64835957e-01 -4.60531938e-03 9.86310244e-01 3.84167369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02863999999994 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:327.20, Y:78.39, Z:38.43 [[ 7.81802943e-01 -6.09074010e-01 -1.33465387e-01 3.27202626e+02] [ 6.01342426e-01 7.93100373e-01 -9.68456783e-02 7.83949954e+01] [ 1.64837633e-01 -4.54416312e-03 9.86310248e-01 3.84258896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08863999999994 meters Centerline goodness : 0.999656 with order 1 Centerline is valid? [True, True] Translation: X:327.26, Y:78.43, Z:38.44 [[ 7.82626339e-01 -6.08004737e-01 -1.33514989e-01 3.27256794e+02] [ 6.00269377e-01 7.93921180e-01 -9.67772469e-02 7.84255157e+01] [ 1.64841402e-01 -4.40453701e-03 9.86310251e-01 3.84373067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14863999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:327.31, Y:78.46, Z:38.45 [[ 7.87002612e-01 -6.02318384e-01 -1.33564416e-01 3.27307692e+02] [ 5.94512968e-01 7.98249149e-01 -9.67089850e-02 7.84574585e+01] [ 1.64867281e-01 -3.29555357e-03 9.86310255e-01 3.84484059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:327.35, Y:78.50, Z:38.46 [[ 7.90658389e-01 -5.97509994e-01 -1.33570655e-01 3.27354830e+02] [ 5.89637624e-01 8.01858162e-01 -9.67003666e-02 7.84954063e+01] [ 1.64884156e-01 -2.30132786e-03 9.86310255e-01 3.84563721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:327.40, Y:78.53, Z:38.47 [[ 7.92701314e-01 -5.94797030e-01 -1.33570655e-01 3.27401499e+02] [ 5.86886327e-01 8.03874044e-01 -9.67003666e-02 7.85319638e+01] [ 1.64891074e-01 -1.73628364e-03 9.86310255e-01 3.84665118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32863999999995 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:327.45, Y:78.57, Z:38.48 [[ 7.90607172e-01 -5.97579197e-01 -1.33564229e-01 3.27448287e+02] [ 5.89706309e-01 8.01806580e-01 -9.67092425e-02 7.85671852e+01] [ 1.64884109e-01 -2.30464760e-03 9.86310255e-01 3.84772278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38863999999995 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:327.50, Y:78.60, Z:38.49 [[ 7.87811735e-01 -6.01261159e-01 -1.33557812e-01 3.27495757e+02] [ 5.93439104e-01 7.99046706e-01 -9.67181026e-02 7.86047449e+01] [ 1.64871769e-01 -3.06277232e-03 9.86310255e-01 3.84873090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44863999999995 meters Centerline goodness : 0.996134 with order 1 Centerline is valid? [True, True] Translation: X:327.54, Y:78.64, Z:38.51 [[ 7.88236470e-01 -6.00702819e-01 -1.33564181e-01 3.27543293e+02] [ 5.92874296e-01 7.99466935e-01 -9.67093070e-02 7.86404428e+01] [ 1.64873700e-01 -2.95696698e-03 9.86310255e-01 3.85113281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50863999999996 meters Centerline goodness : 0.995643 with order 1 Centerline is valid? [True, True] Translation: X:327.59, Y:78.68, Z:38.52 [[ 7.87465063e-01 -6.01703784e-01 -1.33608874e-01 3.27589762e+02] [ 5.93900010e-01 7.98712736e-01 -9.66475233e-02 7.86792955e+01] [ 1.64868289e-01 -3.24376335e-03 9.86310258e-01 3.85239308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56863999999996 meters Centerline goodness : 0.995942 with order 1 Centerline is valid? [True, True] Translation: X:327.64, Y:78.72, Z:38.53 [[ 7.86641082e-01 -6.02779175e-01 -1.33615394e-01 3.27638455e+02] [ 5.94992307e-01 7.97900466e-01 -9.66385075e-02 7.87173456e+01] [ 1.64863465e-01 -3.48031158e-03 9.86310258e-01 3.85321120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62863999999996 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:327.69, Y:78.76, Z:38.53 [[ 7.85930090e-01 -6.03695919e-01 -1.33660503e-01 3.27689602e+02] [ 5.95932791e-01 7.97205852e-01 -9.65760784e-02 7.87559224e+01] [ 1.64857520e-01 -3.75063051e-03 9.86310261e-01 3.85281880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68863999999996 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:327.74, Y:78.79, Z:38.54 [[ 7.83845170e-01 -6.06390773e-01 -1.33704821e-01 3.27740016e+02] [ 5.98676864e-01 7.95154657e-01 -9.65146835e-02 7.87913731e+01] [ 1.64841625e-01 -4.39341475e-03 9.86310264e-01 3.85395792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74863999999997 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:327.79, Y:78.82, Z:38.55 [[ 7.83197104e-01 -6.07224143e-01 -1.33720365e-01 3.27792232e+02] [ 5.99525941e-01 7.94517287e-01 -9.64931429e-02 7.88233221e+01] [ 1.64836108e-01 -4.59567772e-03 9.86310264e-01 3.85493584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80863999999997 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:327.85, Y:78.85, Z:38.56 [[ 7.82515482e-01 -6.08092804e-01 -1.33763457e-01 3.27846200e+02] [ 6.00417370e-01 7.93851111e-01 -9.64333705e-02 7.88523357e+01] [ 1.64828708e-01 -4.85329782e-03 9.86310267e-01 3.85606639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86863999999997 meters Centerline goodness : 0.995986 with order 1 Centerline is valid? [True, True] Translation: X:327.90, Y:78.88, Z:38.58 [[ 7.82955999e-01 -6.07524151e-01 -1.33769614e-01 3.27898626e+02] [ 5.99841941e-01 7.94287037e-01 -9.64248287e-02 7.88794426e+01] [ 1.64831883e-01 -4.74422716e-03 9.86310267e-01 3.85833857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92864 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:327.95, Y:78.91, Z:38.58 [[ 7.86144178e-01 -6.03391560e-01 -1.33775770e-01 3.27952955e+02] [ 5.95651223e-01 7.97435590e-01 -9.64162880e-02 7.89068426e+01] [ 1.64854334e-01 -3.88659740e-03 9.86310267e-01 3.85806494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:328.00, Y:78.94, Z:38.59 [[ 7.89026445e-01 -5.99620437e-01 -1.33763227e-01 3.28002910e+02] [ 5.91823175e-01 8.00278622e-01 -9.64336859e-02 7.89365476e+01] [ 1.64871460e-01 -3.07544960e-03 9.86310267e-01 3.85920834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:328.05, Y:78.96, Z:38.60 [[ 7.92002825e-01 -5.95686396e-01 -1.33750671e-01 3.28054672e+02] [ 5.87830295e-01 8.03214000e-01 -9.64510984e-02 7.89641654e+01] [ 1.64885019e-01 -2.23315384e-03 9.86310267e-01 3.85993185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10864 meters Centerline goodness : 0.999657 with order 1 Centerline is valid? [True, True] Translation: X:328.11, Y:78.99, Z:38.61 [[ 7.94093000e-01 -5.92900057e-01 -1.33737915e-01 3.28106334e+02] [ 5.85001636e-01 8.05274400e-01 -9.64687828e-02 7.89915262e+01] [ 1.64892066e-01 -1.63171359e-03 9.86310268e-01 3.86116915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16864 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:328.16, Y:79.02, Z:38.62 [[ 7.95698312e-01 -5.90746835e-01 -1.33724993e-01 3.28155843e+02] [ 5.82815145e-01 8.06856137e-01 -9.64866920e-02 7.90206549e+01] [ 1.64896039e-01 -1.16265297e-03 9.86310268e-01 3.86210314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22864 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:328.20, Y:79.05, Z:38.63 [[ 7.99887717e-01 -5.85073761e-01 -1.33672489e-01 3.28204936e+02] [ 5.77050780e-01 8.10980076e-01 -9.65593770e-02 7.90512565e+01] [ 1.64900083e-01 1.00845622e-04 9.86310272e-01 3.86298495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28863999999993 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:328.25, Y:79.08, Z:38.64 [[ 8.04359419e-01 -5.78921278e-01 -1.33626641e-01 3.28253176e+02] [ 5.70802918e-01 8.15382160e-01 -9.66227843e-02 7.90828069e+01] [ 1.64893765e-01 1.44497017e-03 9.86310275e-01 3.86392497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34863999999993 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:328.30, Y:79.12, Z:38.65 [[ 8.04663458e-01 -5.78510972e-01 -1.33573103e-01 3.28300037e+02] [ 5.70374714e-01 8.15672989e-01 -9.66967410e-02 7.91157546e+01] [ 1.64892098e-01 1.62161373e-03 9.86310279e-01 3.86505255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40863999999993 meters Centerline goodness : 0.994816 with order 1 Centerline is valid? [True, True] Translation: X:328.35, Y:79.15, Z:38.68 [[ 8.02379516e-01 -5.81687014e-01 -1.33519023e-01 3.28347620e+02] [ 5.73581918e-01 8.13412003e-01 -9.67713581e-02 7.91454900e+01] [ 1.64896618e-01 1.06325822e-03 9.86310283e-01 3.86785624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.40, Y:79.18, Z:38.67 [[ 8.02911204e-01 -5.80953350e-01 -1.33517052e-01 3.28398617e+02] [ 5.72837722e-01 8.13935945e-01 -9.67740769e-02 7.91821540e+01] [ 1.64895552e-01 1.21738658e-03 9.86310283e-01 3.86684889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:328.45, Y:79.21, Z:38.68 [[ 8.00853981e-01 -5.83786483e-01 -1.33514958e-01 3.28447167e+02] [ 5.75709375e-01 8.11906974e-01 -9.67769657e-02 7.92125139e+01] [ 1.64898810e-01 6.38404963e-04 9.86310283e-01 3.86797002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:328.50, Y:79.24, Z:38.69 [[ 7.98659776e-01 -5.86797068e-01 -1.33460717e-01 3.28496271e+02] [ 5.78749132e-01 8.09734023e-01 -9.68517109e-02 7.92448662e+01] [ 1.64899983e-01 1.11291590e-04 9.86310287e-01 3.86881431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:328.54, Y:79.28, Z:38.70 [[ 7.98066754e-01 -5.87613322e-01 -1.33416794e-01 3.28543475e+02] [ 5.79566601e-01 8.09141881e-01 -9.69121797e-02 7.92790073e+01] [ 1.64900003e-01 1.84708794e-05 9.86310290e-01 3.86991369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:328.59, Y:79.31, Z:38.71 [[ 7.98078595e-01 -5.87607945e-01 -1.33369633e-01 3.28590358e+02] [ 5.79550309e-01 8.09145780e-01 -9.69770395e-02 7.93128472e+01] [ 1.64899955e-01 1.00887372e-04 9.86310293e-01 3.87081600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76863999999995 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:328.64, Y:79.35, Z:38.73 [[ 7.97466022e-01 -5.88449865e-01 -1.33321794e-01 3.28636391e+02] [ 5.80392924e-01 8.08533707e-01 -9.70427646e-02 7.93458270e+01] [ 1.64899966e-01 9.28185870e-06 9.86310297e-01 3.87276872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:328.68, Y:79.38, Z:38.73 [[ 7.98662096e-01 -5.86836379e-01 -1.33273858e-01 3.28682850e+02] [ 5.78746098e-01 8.09705430e-01 -9.71085526e-02 7.93838796e+01] [ 1.64899398e-01 4.25194573e-04 9.86310300e-01 3.87272554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:328.73, Y:79.42, Z:38.74 [[ 7.99349317e-01 -5.85910584e-01 -1.33227092e-01 3.28728749e+02] [ 5.77796824e-01 8.10375408e-01 -9.71726717e-02 7.94193894e+01] [ 1.64898456e-01 6.96718028e-04 9.86310303e-01 3.87367544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:328.78, Y:79.45, Z:38.75 [[ 7.97725983e-01 -5.88129532e-01 -1.33179990e-01 3.28776557e+02] [ 5.80035670e-01 8.08766686e-01 -9.72371852e-02 7.94505336e+01] [ 1.64899600e-01 3.19484272e-04 9.86310306e-01 3.87468762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:328.82, Y:79.48, Z:38.76 [[ 7.97751850e-01 -5.88106692e-01 -1.33125894e-01 3.28824320e+02] [ 5.80000161e-01 8.08783249e-01 -9.73111930e-02 7.94831541e+01] [ 1.64899357e-01 4.17144535e-04 9.86310310e-01 3.87563568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:328.87, Y:79.52, Z:38.77 [[ 8.00526870e-01 -5.84334535e-01 -1.33078477e-01 3.28869846e+02] [ 5.76165249e-01 8.11511874e-01 -9.73759953e-02 7.95194410e+01] [ 1.64894921e-01 1.27690673e-03 9.86310313e-01 3.87652830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:328.92, Y:79.55, Z:38.78 [[ 8.03724153e-01 -5.79939823e-01 -1.33031153e-01 3.28915837e+02] [ 5.71699782e-01 8.14656177e-01 -9.74406052e-02 7.95542346e+01] [ 1.64884338e-01 2.26148640e-03 9.86310317e-01 3.87752486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:328.96, Y:79.59, Z:38.78 [[ 8.03390656e-01 -5.80412547e-01 -1.32983942e-01 3.28961335e+02] [ 5.72168281e-01 8.14319491e-01 -9.75049960e-02 7.95896062e+01] [ 1.64884539e-01 2.24540903e-03 9.86310320e-01 3.87843987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:329.01, Y:79.63, Z:38.79 [[ 8.02942785e-01 -5.81044292e-01 -1.32930115e-01 3.29007084e+02] [ 5.72796486e-01 8.13868943e-01 -9.75783259e-02 7.96255842e+01] [ 1.64885021e-01 2.20791013e-03 9.86310324e-01 3.87935772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30863999999997 meters Centerline goodness : 0.997311 with order 1 Centerline is valid? [True, True] Translation: X:329.05, Y:79.66, Z:38.82 [[ 8.02954340e-01 -5.81039147e-01 -1.32882796e-01 3.29049640e+02] [ 5.72780615e-01 8.13872389e-01 -9.76427232e-02 7.96607342e+01] [ 1.64883883e-01 2.28995878e-03 9.86310327e-01 3.88195272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:329.10, Y:79.70, Z:38.81 [[ 8.05065467e-01 -5.78121410e-01 -1.32835343e-01 3.29095140e+02] [ 5.69812670e-01 8.15945352e-01 -9.77072380e-02 7.97017939e+01] [ 1.64873027e-01 2.96946198e-03 9.86310330e-01 3.88123060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42864 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:329.14, Y:79.74, Z:38.82 [[ 8.05274966e-01 -5.77840366e-01 -1.32788330e-01 3.29138795e+02] [ 5.69517303e-01 8.16143894e-01 -9.77710899e-02 7.97387132e+01] [ 1.64870467e-01 3.10735974e-03 9.86310333e-01 3.88217182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:329.18, Y:79.78, Z:38.83 [[ 8.02901390e-01 -5.81146198e-01 -1.32734526e-01 3.29182482e+02] [ 5.72855826e-01 8.13795268e-01 -9.78440808e-02 7.97777727e+01] [ 1.64880445e-01 2.52140210e-03 9.86310337e-01 3.88313527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:329.23, Y:79.81, Z:38.84 [[ 8.00237213e-01 -5.84820024e-01 -1.32687385e-01 3.29226709e+02] [ 5.76569076e-01 8.11160977e-01 -9.79079675e-02 7.98138851e+01] [ 1.64889369e-01 1.84615582e-03 9.86310340e-01 3.88399692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60864 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:329.27, Y:79.85, Z:38.85 [[ 7.95410134e-01 -5.91380755e-01 -1.32633032e-01 3.29272850e+02] [ 5.83207642e-01 8.06392252e-01 -9.79815439e-02 7.98495983e+01] [ 1.64898649e-01 5.82914953e-04 9.86310345e-01 3.88502556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:329.32, Y:79.88, Z:38.86 [[ 7.90778676e-01 -5.97562701e-01 -1.32619394e-01 3.29321175e+02] [ 5.89472343e-01 8.01821898e-01 -9.80000000e-02 7.98821034e+01] [ 1.64898279e-01 -6.79154795e-04 9.86310345e-01 3.88586436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:329.37, Y:79.92, Z:38.87 [[ 7.88919388e-01 -6.00018216e-01 -1.32605954e-01 3.29368956e+02] [ 5.91959172e-01 7.99985484e-01 -9.80181829e-02 7.99159681e+01] [ 1.64895534e-01 -1.16886592e-03 9.86310345e-01 3.88678764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78863999999993 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:329.42, Y:79.94, Z:38.88 [[ 7.87045232e-01 -6.02477354e-01 -1.32592761e-01 3.29420882e+02] [ 5.94449879e-01 7.98134248e-01 -9.80360271e-02 7.99443250e+01] [ 1.64891309e-01 -1.66096279e-03 9.86310345e-01 3.88770255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84863999999993 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:329.47, Y:79.98, Z:38.89 [[ 7.86399407e-01 -6.03322970e-01 -1.32579664e-01 3.29468729e+02] [ 5.95304433e-01 7.97494888e-01 -9.80537348e-02 7.99776841e+01] [ 1.64889675e-01 -1.81586296e-03 9.86310346e-01 3.88870169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90863999999993 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:329.52, Y:80.00, Z:38.90 [[ 7.85114324e-01 -6.04997193e-01 -1.32566566e-01 3.29522553e+02] [ 5.96999327e-01 7.96224714e-01 -9.80714408e-02 8.00019323e+01] [ 1.64885722e-01 -2.14485747e-03 9.86310346e-01 3.88967717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96863999999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:329.57, Y:80.03, Z:38.91 [[ 7.87413951e-01 -6.02011177e-01 -1.32520990e-01 3.29572832e+02] [ 5.93960815e-01 7.98486360e-01 -9.81329880e-02 8.00309717e+01] [ 1.64893358e-01 -1.44099132e-03 9.86310349e-01 3.89059622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02863999999994 meters Centerline goodness : 0.995398 with order 1 Centerline is valid? [True, True] Translation: X:329.62, Y:80.06, Z:38.94 [[ 7.88410735e-01 -6.00715347e-01 -1.32474848e-01 3.29618944e+02] [ 5.92636325e-01 7.99462245e-01 -9.81952392e-02 8.00608347e+01] [ 1.64896026e-01 -1.09122624e-03 9.86310352e-01 3.89367936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08863999999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:329.67, Y:80.09, Z:38.93 [[ 7.91330821e-01 -5.96873757e-01 -1.32428283e-01 3.29669544e+02] [ 5.88730576e-01 8.02335138e-01 -9.82579984e-02 8.00940389e+01] [ 1.64899485e-01 -2.09996674e-04 9.86310355e-01 3.89254492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:329.72, Y:80.12, Z:38.94 [[ 7.91468169e-01 -5.96703774e-01 -1.32373501e-01 3.29721091e+02] [ 5.88545893e-01 8.02461588e-01 -9.83317458e-02 8.01210016e+01] [ 1.64899574e-01 -8.14338548e-05 9.86310359e-01 3.89363342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20863999999995 meters Centerline goodness : 0.995500 with order 1 Centerline is valid? [True, True] Translation: X:329.77, Y:80.15, Z:38.96 [[ 7.91561507e-01 -5.96590552e-01 -1.32325714e-01 3.29767573e+02] [ 5.88420353e-01 8.02545770e-01 -9.83960130e-02 8.01487424e+01] [ 1.64899573e-01 2.33532616e-05 9.86310362e-01 3.89636884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26863999999995 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:329.82, Y:80.18, Z:38.95 [[ 7.95943959e-01 -5.90743252e-01 -1.32271025e-01 3.29820788e+02] [ 5.82480149e-01 8.06858500e-01 -9.84694753e-02 8.01788028e+01] [ 1.64894179e-01 1.33093750e-03 9.86310366e-01 3.89540676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32863999999995 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:329.87, Y:80.21, Z:38.96 [[ 8.01595004e-01 -5.83064693e-01 -1.32215783e-01 3.29868962e+02] [ 5.74684831e-01 8.12420153e-01 -9.85435948e-02 8.02112125e+01] [ 1.64872058e-01 3.00964831e-03 9.86310370e-01 3.89649559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:329.92, Y:80.24, Z:38.98 [[ 8.02141858e-01 -5.82322968e-01 -1.32168079e-01 3.29916394e+02] [ 5.73922564e-01 8.12951071e-01 -9.86075355e-02 8.02440969e+01] [ 1.64867614e-01 3.24298878e-03 9.86310373e-01 3.89752742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:329.96, Y:80.28, Z:38.98 [[ 8.01885641e-01 -5.82686407e-01 -1.32121039e-01 3.29963239e+02] [ 5.74280529e-01 8.12690594e-01 -9.86705236e-02 8.02789578e+01] [ 1.64867499e-01 3.24793585e-03 9.86310377e-01 3.89835011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:330.01, Y:80.32, Z:38.99 [[ 8.02881680e-01 -5.81323817e-01 -1.32074329e-01 3.30008177e+02] [ 5.72889329e-01 8.13664310e-01 -9.87330083e-02 8.03156655e+01] [ 1.64860017e-01 3.60695003e-03 9.86310380e-01 3.89931438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.05, Y:80.35, Z:39.00 [[ 8.03950345e-01 -5.79855590e-01 -1.32027787e-01 3.30052503e+02] [ 5.71391204e-01 8.14709518e-01 -9.87952067e-02 8.03536491e+01] [ 1.64851248e-01 3.98692438e-03 9.86310382e-01 3.90031275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62863999999996 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:330.10, Y:80.39, Z:39.01 [[ 8.03654978e-01 -5.80275464e-01 -1.31981294e-01 3.30096798e+02] [ 5.71806513e-01 8.14410554e-01 -9.88572791e-02 8.03912057e+01] [ 1.64851412e-01 3.97938114e-03 9.86310385e-01 3.90145620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:330.14, Y:80.43, Z:39.02 [[ 7.99821772e-01 -5.85558108e-01 -1.31934967e-01 3.30143523e+02] [ 5.77150019e-01 8.10624989e-01 -9.89190686e-02 8.04255822e+01] [ 1.64872644e-01 2.97135569e-03 9.86310388e-01 3.90229665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:330.19, Y:80.46, Z:39.03 [[ 7.95500236e-01 -5.91426147e-01 -1.31888159e-01 3.30192521e+02] [ 5.83087419e-01 8.06357077e-01 -9.89814390e-02 8.04576054e+01] [ 1.64889162e-01 1.83743166e-03 9.86310391e-01 3.90330148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80863999999997 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:330.24, Y:80.49, Z:39.04 [[ 7.94174758e-01 -5.93215451e-01 -1.31840368e-01 3.30241450e+02] [ 5.84890623e-01 8.05042257e-01 -9.90450555e-02 8.04892958e+01] [ 1.64892125e-01 1.54688798e-03 9.86310395e-01 3.90418698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86863999999997 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:330.29, Y:80.52, Z:39.05 [[ 7.95536176e-01 -5.91399331e-01 -1.31791596e-01 3.30290471e+02] [ 5.83038950e-01 8.06376344e-01 -9.91099110e-02 8.05193213e+01] [ 1.64887160e-01 2.00588581e-03 9.86310398e-01 3.90524557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:330.34, Y:80.55, Z:39.06 [[ 7.97943989e-01 -5.88158918e-01 -1.31736393e-01 3.30338481e+02] [ 5.79742416e-01 8.08740637e-01 -9.91832332e-02 8.05515758e+01] [ 1.64876078e-01 2.76948980e-03 9.86310402e-01 3.90612700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.39, Y:80.58, Z:39.07 [[ 7.98584710e-01 -5.87299389e-01 -1.31688608e-01 3.30386522e+02] [ 5.78860814e-01 8.09364110e-01 -9.92466390e-02 8.05837571e+01] [ 1.64871524e-01 3.02747327e-03 9.86310405e-01 3.90722097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:330.43, Y:80.62, Z:39.08 [[ 7.98894595e-01 -5.86888399e-01 -1.31641304e-01 3.30431782e+02] [ 5.78433950e-01 8.09661546e-01 -9.93093451e-02 8.06184386e+01] [ 1.64868404e-01 3.19189960e-03 9.86310408e-01 3.90803361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:330.48, Y:80.66, Z:39.09 [[ 7.99591025e-01 -5.85951392e-01 -1.31587076e-01 3.30475021e+02] [ 5.77472516e-01 8.10338745e-01 -9.93811472e-02 8.06561208e+01] [ 1.64862628e-01 3.47635347e-03 9.86310412e-01 3.90898373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16864 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:330.52, Y:80.69, Z:39.10 [[ 8.00634285e-01 -5.84537096e-01 -1.31533744e-01 3.30518882e+02] [ 5.76027654e-01 8.11357815e-01 -9.94516845e-02 8.06924130e+01] [ 1.64854130e-01 3.85735415e-03 9.86310416e-01 3.90997911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22864 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:330.56, Y:80.73, Z:39.11 [[ 8.02494128e-01 -5.81993262e-01 -1.31480103e-01 3.30561174e+02] [ 5.73438231e-01 8.13181319e-01 -9.95225510e-02 8.07322195e+01] [ 1.64838618e-01 4.47054481e-03 9.86310420e-01 3.91094182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28863999999993 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:330.60, Y:80.77, Z:39.12 [[ 8.04356429e-01 -5.79427237e-01 -1.31433680e-01 3.30602755e+02] [ 5.70828117e-01 8.15008174e-01 -9.95838224e-02 8.07724364e+01] [ 1.64821103e-01 5.07484744e-03 9.86310423e-01 3.91181097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34863999999993 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:330.65, Y:80.81, Z:39.13 [[ 8.03951150e-01 -5.80001439e-01 -1.31380666e-01 3.30647428e+02] [ 5.71398519e-01 8.14599822e-01 -9.96537157e-02 8.08110328e+01] [ 1.64821966e-01 5.04600123e-03 9.86310427e-01 3.91255362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40863999999993 meters Centerline goodness : 0.995185 with order 1 Centerline is valid? [True, True] Translation: X:330.69, Y:80.85, Z:39.16 [[ 8.03695423e-01 -5.80365453e-01 -1.31337764e-01 3.30686511e+02] [ 5.71758134e-01 8.14340535e-01 -9.97102272e-02 8.08496294e+01] [ 1.64822036e-01 5.04321834e-03 9.86310429e-01 3.91552042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46863999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:330.73, Y:80.89, Z:39.15 [[ 8.05450455e-01 -5.77937808e-01 -1.31291486e-01 3.30729850e+02] [ 5.69288498e-01 8.16061474e-01 -9.97711267e-02 8.08928520e+01] [ 1.64803430e-01 5.61796670e-03 9.86310432e-01 3.91461180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:330.77, Y:80.94, Z:39.16 [[ 8.05675001e-01 -5.77628565e-01 -1.31274653e-01 3.30769494e+02] [ 5.68971580e-01 8.16279759e-01 -9.97932695e-02 8.09364302e+01] [ 1.64800285e-01 5.70939563e-03 9.86310432e-01 3.91551772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58863999999994 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:330.81, Y:80.97, Z:39.17 [[ 7.99742050e-01 -5.85825608e-01 -1.31228851e-01 3.30813858e+02] [ 5.77267496e-01 8.10426754e-01 -9.98534642e-02 8.09734743e+01] [ 1.64848088e-01 4.10286396e-03 9.86310435e-01 3.91662793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64863999999994 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:330.86, Y:81.01, Z:39.18 [[ 7.94004160e-01 -5.93589516e-01 -1.31182622e-01 3.30858351e+02] [ 5.85125883e-01 8.04763854e-01 -9.99141616e-02 8.10104561e+01] [ 1.64879031e-01 2.57391256e-03 9.86310438e-01 3.91768678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:330.90, Y:81.05, Z:39.19 [[ 7.92678397e-01 -5.95369246e-01 -1.31135121e-01 3.30904855e+02] [ 5.86919466e-01 8.03448970e-01 -9.99764669e-02 8.10461939e+01] [ 1.64883292e-01 2.28343020e-03 9.86310441e-01 3.91851614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:330.95, Y:81.08, Z:39.19 [[ 7.92167105e-01 -5.96059267e-01 -1.31090155e-01 3.30949144e+02] [ 5.87609118e-01 8.02937385e-01 -1.00035393e-01 8.10817229e+01] [ 1.64884209e-01 2.21497706e-03 9.86310444e-01 3.91945010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82863999999995 meters Centerline goodness : 0.995634 with order 1 Centerline is valid? [True, True] Translation: X:330.99, Y:81.11, Z:39.22 [[ 7.92181733e-01 -5.96051982e-01 -1.31034873e-01 3.30993511e+02] [ 5.87589765e-01 8.02942529e-01 -1.00107756e-01 8.11138951e+01] [ 1.64882898e-01 2.30878514e-03 9.86310448e-01 3.92210816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:331.04, Y:81.15, Z:39.21 [[ 7.92377908e-01 -5.95801780e-01 -1.30986601e-01 3.31042741e+02] [ 5.87325733e-01 8.03127810e-01 -1.00170877e-01 8.11491028e+01] [ 1.64880969e-01 2.44138865e-03 9.86310451e-01 3.92131093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94863999999995 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:331.09, Y:81.18, Z:39.22 [[ 7.92628744e-01 -5.95471896e-01 -1.30969060e-01 3.31090016e+02] [ 5.86987588e-01 8.03372126e-01 -1.00193807e-01 8.11827751e+01] [ 1.64879488e-01 2.53927889e-03 9.86310451e-01 3.92248043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:331.14, Y:81.22, Z:39.23 [[ 7.94937870e-01 -5.92396439e-01 -1.30920747e-01 3.31135288e+02] [ 5.83860183e-01 8.05640020e-01 -1.00256897e-01 8.12199851e+01] [ 1.64866822e-01 3.25859295e-03 9.86310454e-01 3.92328873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:331.18, Y:81.26, Z:39.24 [[ 7.99078524e-01 -5.86809796e-01 -1.30873125e-01 3.31178041e+02] [ 5.78188569e-01 8.09712339e-01 -1.00319024e-01 8.12580607e+01] [ 1.64837770e-01 4.49343287e-03 9.86310457e-01 3.92430502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12863999999996 meters Centerline goodness : 0.990798 with order 1 Centerline is valid? [True, True] Translation: X:331.22, Y:81.30, Z:39.27 [[ 8.01649636e-01 -5.83304574e-01 -1.30819092e-01 3.31216362e+02] [ 5.74625384e-01 8.12236190e-01 -1.00389436e-01 8.12975638e+01] [ 1.64813619e-01 5.30518403e-03 9.86310461e-01 3.92728363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18863999999996 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:331.26, Y:81.34, Z:39.26 [[ 8.00464605e-01 -5.84932690e-01 -1.30805826e-01 3.31263762e+02] [ 5.76272214e-01 8.11066474e-01 -1.00406720e-01 8.13378184e+01] [ 1.64823392e-01 4.99226268e-03 9.86310462e-01 3.92612570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24863999999997 meters Centerline goodness : 0.996187 with order 1 Centerline is valid? [True, True] Translation: X:331.31, Y:81.37, Z:39.29 [[ 7.91350232e-01 -5.97207856e-01 -1.30795972e-01 3.31306889e+02] [ 5.88709792e-01 8.02082723e-01 -1.00419555e-01 8.13723480e+01] [ 1.64880536e-01 2.46616885e-03 9.86310462e-01 3.92872010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30863999999997 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:331.36, Y:81.41, Z:39.28 [[ 7.87149174e-01 -6.02737221e-01 -1.30782340e-01 3.31355522e+02] [ 5.94311605e-01 7.97938634e-01 -1.00437304e-01 8.14085484e+01] [ 1.64893584e-01 1.33367825e-03 9.86310462e-01 3.92791987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:331.41, Y:81.44, Z:39.29 [[ 7.80667420e-01 -6.11112028e-01 -1.30768763e-01 3.31405939e+02] [ 6.02799197e-01 7.91544014e-01 -1.00454979e-01 8.14384687e+01] [ 1.64898477e-01 -4.05376425e-04 9.86310462e-01 3.92877165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:331.46, Y:81.46, Z:39.30 [[ 7.76623187e-01 -6.16246376e-01 -1.30754843e-01 3.31458121e+02] [ 6.08002395e-01 7.87552058e-01 -1.00473095e-01 8.14646222e+01] [ 1.64892426e-01 -1.46952227e-03 9.86310462e-01 3.92988189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48864 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:331.51, Y:81.49, Z:39.31 [[ 7.77765031e-01 -6.14807529e-01 -1.30741191e-01 3.31509328e+02] [ 6.06540343e-01 7.88676359e-01 -1.00490856e-01 8.14920930e+01] [ 1.64895021e-01 -1.14153293e-03 9.86310463e-01 3.93106953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54864 meters Centerline goodness : 0.997798 with order 1 Centerline is valid? [True, True] Translation: X:331.56, Y:81.52, Z:39.33 [[ 7.82430752e-01 -6.08868831e-01 -1.30693780e-01 3.31557583e+02] [ 6.00508526e-01 7.93270893e-01 -1.00552479e-01 8.15203855e+01] [ 1.64898842e-01 1.92622343e-04 9.86310466e-01 3.93347943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60864 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:331.61, Y:81.55, Z:39.33 [[ 7.85526302e-01 -6.04880290e-01 -1.30645566e-01 3.31608768e+02] [ 5.96454530e-01 7.96315640e-01 -1.00615085e-01 8.15535894e+01] [ 1.64895189e-01 1.11165601e-03 9.86310469e-01 3.93285071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66864 meters Centerline goodness : 0.996527 with order 1 Centerline is valid? [True, True] Translation: X:331.65, Y:81.58, Z:39.36 [[ 7.86534753e-01 -6.03577977e-01 -1.30601333e-01 3.31654757e+02] [ 5.95124823e-01 7.97302639e-01 -1.00672469e-01 8.15847305e+01] [ 1.64892472e-01 1.45830009e-03 9.86310471e-01 3.93558545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.70, Y:81.62, Z:39.35 [[ 7.87140237e-01 -6.02798810e-01 -1.30552065e-01 3.31703274e+02] [ 5.94324407e-01 7.97891404e-01 -1.00736320e-01 8.16215261e+01] [ 1.64890104e-01 1.70333241e-03 9.86310475e-01 3.93488343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78863999999993 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:331.75, Y:81.66, Z:39.36 [[ 7.88886521e-01 -6.00522264e-01 -1.30503131e-01 3.31746420e+02] [ 5.92006357e-01 7.99604839e-01 -1.00799675e-01 8.16609711e+01] [ 1.64883384e-01 2.26082182e-03 9.86310478e-01 3.93580213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84863999999993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:331.79, Y:81.70, Z:39.37 [[ 7.90230407e-01 -5.98763266e-01 -1.30454798e-01 3.31791035e+02] [ 5.90213184e-01 8.00921480e-01 -1.00862189e-01 8.16987604e+01] [ 1.64876624e-01 2.70822747e-03 9.86310481e-01 3.93673942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90863999999993 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:331.84, Y:81.74, Z:39.38 [[ 7.90230880e-01 -5.98773241e-01 -1.30406142e-01 3.31835440e+02] [ 5.90212922e-01 8.00913753e-01 -1.00925058e-01 8.17366966e+01] [ 1.64875297e-01 2.78670757e-03 9.86310484e-01 3.93762029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:331.88, Y:81.77, Z:39.39 [[ 7.87916434e-01 -6.01826004e-01 -1.30357790e-01 3.31881290e+02] [ 5.93296753e-01 7.98624125e-01 -1.00987473e-01 8.17730133e+01] [ 1.64883764e-01 2.22883606e-03 9.86310487e-01 3.93856462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:331.93, Y:81.81, Z:39.39 [[ 7.86210997e-01 -6.04062748e-01 -1.30309116e-01 3.31925247e+02] [ 5.95553558e-01 7.96934633e-01 -1.01050242e-01 8.18104502e+01] [ 1.64888534e-01 1.84075348e-03 9.86310490e-01 3.93931492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:331.97, Y:81.84, Z:39.40 [[ 7.85276085e-01 -6.05289700e-01 -1.30253021e-01 3.31971358e+02] [ 5.96785280e-01 7.96003499e-01 -1.01122498e-01 8.18449430e+01] [ 1.64890267e-01 1.67599373e-03 9.86310494e-01 3.94035694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14863999999994 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:332.01, Y:81.88, Z:39.41 [[ 7.86836696e-01 -6.03270115e-01 -1.30204387e-01 3.32013179e+02] [ 5.94727807e-01 7.97533959e-01 -1.01185080e-01 8.18830964e+01] [ 1.64884355e-01 2.17996493e-03 9.86310497e-01 3.94148691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:332.06, Y:81.92, Z:39.42 [[ 7.89506028e-01 -5.99784621e-01 -1.30148535e-01 3.32056032e+02] [ 5.91183258e-01 8.00155861e-01 -1.01256869e-01 8.19225782e+01] [ 1.64871426e-01 3.00127343e-03 9.86310501e-01 3.94240376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26863999999995 meters Centerline goodness : 0.995252 with order 1 Centerline is valid? [True, True] Translation: X:332.09, Y:81.96, Z:39.46 [[ 7.91400954e-01 -5.97292685e-01 -1.30099879e-01 3.32094879e+02] [ 5.88647527e-01 8.02015261e-01 -1.01319348e-01 8.19614757e+01] [ 1.64859394e-01 3.60125706e-03 9.86310504e-01 3.94551808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:332.14, Y:82.00, Z:39.45 [[ 7.93029693e-01 -5.95131509e-01 -1.30086101e-01 3.32140397e+02] [ 5.86454528e-01 8.03618001e-01 -1.01337034e-01 8.20039731e+01] [ 1.64848395e-01 4.07369432e-03 9.86310505e-01 3.94455371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38863999999995 meters Centerline goodness : 0.994614 with order 1 Centerline is valid? [True, True] Translation: X:332.18, Y:82.04, Z:39.47 [[ 7.90677057e-01 -5.98255117e-01 -1.30079230e-01 3.32177851e+02] [ 5.89618521e-01 8.01298333e-01 -1.01345854e-01 8.20443999e+01] [ 1.64862946e-01 3.43471831e-03 9.86310505e-01 3.94746618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:332.22, Y:82.09, Z:39.46 [[ 7.89715667e-01 -5.99526578e-01 -1.30065551e-01 3.32223578e+02] [ 5.90904194e-01 8.00348483e-01 -1.01363406e-01 8.20858972e+01] [ 1.64867822e-01 3.19198987e-03 9.86310505e-01 3.94636948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50863999999996 meters Centerline goodness : 0.994412 with order 1 Centerline is valid? [True, True] Translation: X:332.27, Y:82.12, Z:39.49 [[ 7.84828638e-01 -6.05912939e-01 -1.30051987e-01 3.32266249e+02] [ 5.97374208e-01 7.95528748e-01 -1.01380806e-01 8.21209670e+01] [ 1.64888036e-01 1.87685732e-03 9.86310505e-01 3.94919741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:332.31, Y:82.16, Z:39.48 [[ 7.81612500e-01 -6.10059035e-01 -1.30037972e-01 3.32314044e+02] [ 6.01574076e-01 7.92355299e-01 -1.01398780e-01 8.21586637e+01] [ 1.64895518e-01 1.02708084e-03 9.86310506e-01 3.94837261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62863999999996 meters Centerline goodness : 0.995110 with order 1 Centerline is valid? [True, True] Translation: X:332.36, Y:82.19, Z:39.51 [[ 7.82747612e-01 -6.08604990e-01 -1.30023621e-01 3.32357245e+02] [ 6.00097018e-01 7.93472195e-01 -1.01417179e-01 8.21935902e+01] [ 1.64893129e-01 1.35726729e-03 9.86310506e-01 3.95110639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:332.40, Y:82.23, Z:39.51 [[ 7.83030301e-01 -6.08243475e-01 -1.30013163e-01 3.32403547e+02] [ 5.99728327e-01 7.93749186e-01 -1.01430583e-01 8.22326997e+01] [ 1.64892333e-01 1.45064300e-03 9.86310506e-01 3.95051857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74863999999997 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:332.45, Y:82.27, Z:39.52 [[ 7.81577373e-01 -6.10112351e-01 -1.29998956e-01 3.32448890e+02] [ 6.01619806e-01 7.92314175e-01 -1.01448788e-01 8.22685997e+01] [ 1.64895175e-01 1.08013047e-03 9.86310506e-01 3.95151758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80863999999997 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:332.49, Y:82.31, Z:39.53 [[ 7.80849612e-01 -6.11046478e-01 -1.29984943e-01 3.32490855e+02] [ 6.02563789e-01 7.91594202e-01 -1.01466740e-01 8.23080130e+01] [ 1.64896222e-01 9.06044645e-04 9.86310506e-01 3.95275536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:332.54, Y:82.34, Z:39.54 [[ 7.81185066e-01 -6.10620520e-01 -1.29971050e-01 3.32536134e+02] [ 6.02129012e-01 7.91922687e-01 -1.01484533e-01 8.23436274e+01] [ 1.64895562e-01 1.01886182e-03 9.86310507e-01 3.95378427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92864 meters Centerline goodness : 0.988051 with order 1 Centerline is valid? [True, True] Translation: X:332.58, Y:82.38, Z:39.57 [[ 7.79080386e-01 -6.13306566e-01 -1.29956950e-01 3.32578446e+02] [ 6.04849067e-01 7.89844815e-01 -1.01502586e-01 8.23797152e+01] [ 1.64898026e-01 4.74334002e-04 9.86310507e-01 3.95687948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98864 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:332.63, Y:82.42, Z:39.56 [[ 7.77558196e-01 -6.15236020e-01 -1.29953423e-01 3.32629677e+02] [ 6.06804477e-01 7.88342968e-01 -1.01507101e-01 8.24157010e+01] [ 1.64898692e-01 7.13591453e-05 9.86310507e-01 3.95584341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04864 meters Centerline goodness : 0.990763 with order 1 Centerline is valid? [True, True] Translation: X:332.67, Y:82.45, Z:39.59 [[ 7.73730153e-01 -6.20044086e-01 -1.29949916e-01 3.32674972e+02] [ 6.11678804e-01 7.84566401e-01 -1.01511591e-01 8.24481979e+01] [ 1.64896000e-01 -9.45030524e-04 9.86310507e-01 3.95878168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10864 meters Centerline goodness : 0.991056 with order 1 Centerline is valid? [True, True] Translation: X:332.72, Y:82.48, Z:39.60 [[ 7.73607601e-01 -6.20198443e-01 -1.29942950e-01 3.32723492e+02] [ 6.11833825e-01 7.84444362e-01 -1.01520508e-01 8.24807039e+01] [ 1.64895875e-01 -9.66455349e-04 9.86310507e-01 3.95977330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:332.77, Y:82.52, Z:39.59 [[ 7.77125419e-01 -6.15787743e-01 -1.29928977e-01 3.32772784e+02] [ 6.07358626e-01 7.87912086e-01 -1.01538387e-01 8.25176646e+01] [ 1.64898706e-01 -5.42295481e-06 9.86310507e-01 3.95883431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22864 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:332.82, Y:82.55, Z:39.60 [[ 7.79096766e-01 -6.13293891e-01 -1.29918557e-01 3.32819796e+02] [ 6.04828023e-01 7.89854614e-01 -1.01551717e-01 8.25506906e+01] [ 1.64897820e-01 5.40230473e-04 9.86310507e-01 3.95993303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28863999999993 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:332.87, Y:82.59, Z:39.61 [[ 7.80559369e-01 -6.11434263e-01 -1.29904630e-01 3.32865019e+02] [ 6.02939801e-01 7.91294653e-01 -1.01569530e-01 8.25868744e+01] [ 1.64895930e-01 9.56376390e-04 9.86310508e-01 3.96078572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34863999999993 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:332.91, Y:82.62, Z:39.62 [[ 7.80691666e-01 -6.11268298e-01 -1.29890687e-01 3.32911785e+02] [ 6.02768587e-01 7.91422794e-01 -1.01587358e-01 8.26211651e+01] [ 1.64895582e-01 1.01437809e-03 9.86310508e-01 3.96166480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40863999999993 meters Centerline goodness : 0.999608 with order 1 Centerline is valid? [True, True] Translation: X:332.96, Y:82.66, Z:39.63 [[ 7.79688639e-01 -6.12550135e-01 -1.29876705e-01 3.32956966e+02] [ 6.04065089e-01 7.90431366e-01 -1.01605231e-01 8.26571049e+01] [ 1.64896919e-01 7.66460695e-04 9.86310508e-01 3.96270569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46863999999994 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:333.00, Y:82.69, Z:39.64 [[ 7.79852521e-01 -6.12344438e-01 -1.29862757e-01 3.33000642e+02] [ 6.03853590e-01 7.90590663e-01 -1.01623055e-01 8.26949491e+01] [ 1.64896595e-01 8.32903828e-04 9.86310508e-01 3.96371257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52863999999994 meters Centerline goodness : 0.995894 with order 1 Centerline is valid? [True, True] Translation: X:333.04, Y:82.73, Z:39.66 [[ 7.80665095e-01 -6.11311120e-01 -1.29848853e-01 3.33042482e+02] [ 6.02803105e-01 7.91389639e-01 -1.01640817e-01 8.27309815e+01] [ 1.64895199e-01 1.07414668e-03 9.86310509e-01 3.96632054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:333.09, Y:82.77, Z:39.66 [[ 7.77639657e-01 -6.15158067e-01 -1.29834958e-01 3.33089895e+02] [ 6.06700143e-01 7.88403750e-01 -1.01658564e-01 8.27676415e+01] [ 1.64898453e-01 2.82843214e-04 9.86310509e-01 3.96563866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:333.14, Y:82.80, Z:39.67 [[ 7.76032664e-01 -6.17188503e-01 -1.29813929e-01 3.33138414e+02] [ 6.08754252e-01 7.86815314e-01 -1.01685410e-01 8.27999603e+01] [ 1.64898653e-01 -1.13581642e-04 9.86310510e-01 3.96663854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:333.18, Y:82.84, Z:39.68 [[ 7.77042689e-01 -6.15919325e-01 -1.29800017e-01 3.33183678e+02] [ 6.07464495e-01 7.87809211e-01 -1.01703166e-01 8.28362977e+01] [ 1.64898594e-01 1.78799662e-04 9.86310510e-01 3.96763207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:333.23, Y:82.87, Z:39.68 [[ 7.81174538e-01 -6.10673300e-01 -1.29786220e-01 3.33229063e+02] [ 6.02143243e-01 7.91881557e-01 -1.01720769e-01 8.28725591e+01] [ 1.64893472e-01 1.31177965e-03 9.86310510e-01 3.96849487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:333.27, Y:82.91, Z:39.70 [[ 7.82167260e-01 -6.09404221e-01 -1.29772388e-01 3.33272352e+02] [ 6.00853865e-01 7.92858076e-01 -1.01738413e-01 8.29088437e+01] [ 1.64890904e-01 1.60221495e-03 9.86310510e-01 3.96959930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:333.32, Y:82.94, Z:39.71 [[ 7.80332841e-01 -6.11755852e-01 -1.29751434e-01 3.33321067e+02] [ 6.03233273e-01 7.91045812e-01 -1.01765129e-01 8.29407195e+01] [ 1.64894742e-01 1.14028963e-03 9.86310511e-01 3.97052640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94863999999995 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:333.37, Y:82.97, Z:39.72 [[ 7.78626945e-01 -6.13928575e-01 -1.29737369e-01 3.33367714e+02] [ 6.05432903e-01 7.89361267e-01 -1.01783057e-01 8.29749352e+01] [ 1.64897181e-01 7.03758995e-04 9.86310511e-01 3.97164329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00863999999996 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:333.42, Y:83.00, Z:39.73 [[ 7.75978801e-01 -6.17275299e-01 -1.29723188e-01 3.33418054e+02] [ 6.08822902e-01 7.86747230e-01 -1.01801128e-01 8.30030765e+01] [ 1.64898680e-01 1.70700285e-05 9.86310511e-01 3.97266761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06863999999996 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:333.47, Y:83.03, Z:39.74 [[ 7.73287871e-01 -6.20647413e-01 -1.29702188e-01 3.33468992e+02] [ 6.12237486e-01 7.84089500e-01 -1.01827877e-01 8.30321812e+01] [ 1.64897332e-01 -6.66279445e-04 9.86310512e-01 3.97371520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12863999999996 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:333.52, Y:83.06, Z:39.75 [[ 7.72766549e-01 -6.21299322e-01 -1.29688136e-01 3.33518413e+02] [ 6.12895504e-01 7.83572932e-01 -1.01845770e-01 8.30632045e+01] [ 1.64896821e-01 -7.82271658e-04 9.86310512e-01 3.97482199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18863999999996 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:333.57, Y:83.10, Z:39.76 [[ 7.73487616e-01 -6.20404297e-01 -1.29674274e-01 3.33567414e+02] [ 6.11985015e-01 7.84281955e-01 -1.01863417e-01 8.30950751e+01] [ 1.64897695e-01 -5.68620619e-04 9.86310512e-01 3.97591575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24863999999997 meters Centerline goodness : 0.999217 with order 1 Centerline is valid? [True, True] Translation: X:333.62, Y:83.13, Z:39.77 [[ 7.73362672e-01 -6.20562939e-01 -1.29660387e-01 3.33617045e+02] [ 6.12142909e-01 7.84156427e-01 -1.01881091e-01 8.31254326e+01] [ 1.64897655e-01 -5.79653608e-04 9.86310513e-01 3.97695987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30863999999997 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:333.66, Y:83.16, Z:39.78 [[ 7.73864592e-01 -6.19947147e-01 -1.29611451e-01 3.33664868e+02] [ 6.11508104e-01 7.84643486e-01 -1.01943309e-01 8.31581181e+01] [ 1.64898244e-01 -3.68135815e-04 9.86310516e-01 3.97793340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36863999999997 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:333.71, Y:83.19, Z:39.79 [[ 7.74938008e-01 -6.18615215e-01 -1.29561953e-01 3.33709182e+02] [ 6.10147133e-01 7.85694098e-01 -1.02006179e-01 8.31948410e+01] [ 1.64898636e-01 -3.38859065e-06 9.86310519e-01 3.97886766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42864 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:333.75, Y:83.23, Z:39.80 [[ 7.76703834e-01 -6.16408424e-01 -1.29506019e-01 3.33753233e+02] [ 6.07897945e-01 7.87426406e-01 -1.02077144e-01 8.32306325e+01] [ 1.64897670e-01 5.57266257e-04 9.86310523e-01 3.97983185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48864 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:333.80, Y:83.27, Z:39.81 [[ 7.76302344e-01 -6.16925915e-01 -1.29449165e-01 3.33798795e+02] [ 6.08410568e-01 7.87021044e-01 -1.02149193e-01 8.32672579e+01] [ 1.64897702e-01 5.40417760e-04 9.86310527e-01 3.98083593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54864 meters Centerline goodness : 0.990051 with order 1 Centerline is valid? [True, True] Translation: X:333.84, Y:83.30, Z:39.84 [[ 7.77422470e-01 -6.15523545e-01 -1.29402739e-01 3.33842789e+02] [ 6.06979077e-01 7.88117967e-01 -1.02207973e-01 8.32996594e+01] [ 1.64896037e-01 9.14019832e-04 9.86310530e-01 3.98370114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60864 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:333.89, Y:83.34, Z:39.83 [[ 7.77209421e-01 -6.15802994e-01 -1.29352961e-01 3.33890005e+02] [ 6.07251891e-01 7.87899611e-01 -1.02270934e-01 8.33386058e+01] [ 1.64895895e-01 9.36103479e-04 9.86310533e-01 3.98271114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:333.93, Y:83.38, Z:39.84 [[ 7.79542376e-01 -6.12857687e-01 -1.29302512e-01 3.33932290e+02] [ 6.04255621e-01 7.90191596e-01 -1.02334678e-01 8.33767770e+01] [ 1.64890352e-01 1.64244792e-03 9.86310536e-01 3.98373950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72864 meters Centerline goodness : 0.993936 with order 1 Centerline is valid? [True, True] Translation: X:333.97, Y:83.41, Z:39.86 [[ 7.81763762e-01 -6.10033574e-01 -1.29245732e-01 3.33973433e+02] [ 6.01381193e-01 7.92372136e-01 -1.02406341e-01 8.34133706e+01] [ 1.64882022e-01 2.33161395e-03 9.86310540e-01 3.98618713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78863999999993 meters Centerline goodness : 0.994276 with order 1 Centerline is valid? [True, True] Translation: X:334.02, Y:83.45, Z:39.87 [[ 7.79765499e-01 -6.12597715e-01 -1.29189032e-01 3.34017846e+02] [ 6.03968378e-01 7.90392621e-01 -1.02477820e-01 8.34512579e+01] [ 1.64887736e-01 1.88257808e-03 9.86310545e-01 3.98727301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84863999999993 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:334.07, Y:83.49, Z:39.86 [[ 7.74279887e-01 -6.19522118e-01 -1.29162694e-01 3.34066930e+02] [ 6.10982288e-01 7.84979068e-01 -1.02511007e-01 8.34884095e+01] [ 1.64897847e-01 4.56092361e-04 9.86310545e-01 3.98642157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90863999999993 meters Centerline goodness : 0.999559 with order 1 Centerline is valid? [True, True] Translation: X:334.12, Y:83.52, Z:39.87 [[ 7.68299228e-01 -6.26926524e-01 -1.29148871e-01 3.34115858e+02] [ 6.18486871e-01 7.79077605e-01 -1.02528418e-01 8.35197960e+01] [ 1.64894778e-01 -1.10437714e-03 9.86310546e-01 3.98741423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96863999999994 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:334.16, Y:83.55, Z:39.88 [[ 7.66024593e-01 -6.29714034e-01 -1.29099025e-01 3.34164524e+02] [ 6.21303029e-01 7.76825336e-01 -1.02591145e-01 8.35501318e+01] [ 1.64890477e-01 -1.62227492e-03 9.86310549e-01 3.98837826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02863999999994 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:334.21, Y:83.58, Z:39.89 [[ 7.68262019e-01 -6.26993942e-01 -1.29042889e-01 3.34214503e+02] [ 6.18532839e-01 7.79023556e-01 -1.02661707e-01 8.35808998e+01] [ 1.64895719e-01 -9.46174051e-04 9.86310553e-01 3.98939997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08863999999994 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:334.26, Y:83.61, Z:39.90 [[ 7.72994364e-01 -6.21160455e-01 -1.28993812e-01 3.34262437e+02] [ 6.12607845e-01 7.83683319e-01 -1.02723336e-01 8.36131187e+01] [ 1.64897973e-01 3.81938970e-04 9.86310556e-01 3.99029863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14863999999994 meters Centerline goodness : 0.993832 with order 1 Centerline is valid? [True, True] Translation: X:334.31, Y:83.65, Z:39.93 [[ 7.79502235e-01 -6.12985746e-01 -1.28936964e-01 3.34305377e+02] [ 6.04309254e-01 7.90090872e-01 -1.02794642e-01 8.36474257e+01] [ 1.64883569e-01 2.21085253e-03 9.86310560e-01 3.99290614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20863999999995 meters Centerline goodness : 0.994812 with order 1 Centerline is valid? [True, True] Translation: X:334.35, Y:83.69, Z:39.94 [[ 7.83263607e-01 -6.08182922e-01 -1.28886213e-01 3.34349934e+02] [ 5.99431050e-01 7.93790022e-01 -1.02858236e-01 8.36860074e+01] [ 1.64865213e-01 3.30671504e-03 9.86310563e-01 3.99355749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26863999999995 meters Centerline goodness : 0.998776 with order 1 Centerline is valid? [True, True] Translation: X:334.39, Y:83.73, Z:39.93 [[ 7.85907823e-01 -6.04764382e-01 -1.28875660e-01 3.34394589e+02] [ 5.95964563e-01 7.96394189e-01 -1.02871457e-01 8.37265982e+01] [ 1.64848820e-01 4.04215608e-03 9.86310563e-01 3.99325730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32863999999995 meters Centerline goodness : 0.998775 with order 1 Centerline is valid? [True, True] Translation: X:334.44, Y:83.77, Z:39.94 [[ 7.90471103e-01 -5.98798273e-01 -1.28825712e-01 3.34435975e+02] [ 5.89909159e-01 8.00881878e-01 -1.02933970e-01 8.37668455e+01] [ 1.64810861e-01 5.37086159e-03 9.86310567e-01 3.99411958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38863999999995 meters Centerline goodness : 0.999167 with order 1 Centerline is valid? [True, True] Translation: X:334.47, Y:83.81, Z:39.95 [[ 7.93439674e-01 -5.94871083e-01 -1.28770640e-01 3.34474257e+02] [ 5.85919303e-01 8.03796610e-01 -1.03002820e-01 8.38118088e+01] [ 1.64778803e-01 6.27732033e-03 9.86310570e-01 3.99510394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44863999999995 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:334.52, Y:83.85, Z:39.96 [[ 7.90646335e-01 -5.98588815e-01 -1.28723753e-01 3.34516230e+02] [ 5.89676228e-01 8.01037013e-01 -1.03061383e-01 8.38524266e+01] [ 1.64803882e-01 5.57976760e-03 9.86310573e-01 3.99612219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50863999999996 meters Centerline goodness : 0.998288 with order 1 Centerline is valid? [True, True] Translation: X:334.56, Y:83.90, Z:39.97 [[ 7.85273836e-01 -6.05629796e-01 -1.28676159e-01 3.34556236e+02] [ 5.96800688e-01 7.95735537e-01 -1.03120773e-01 8.38961967e+01] [ 1.64845205e-01 4.18402476e-03 9.86310576e-01 3.99694336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56863999999996 meters Centerline goodness : 0.998434 with order 1 Centerline is valid? [True, True] Translation: X:334.60, Y:83.93, Z:39.98 [[ 7.79201464e-01 -6.13425664e-01 -1.28662476e-01 3.34600487e+02] [ 6.04698438e-01 7.89748305e-01 -1.03137842e-01 8.39336605e+01] [ 1.64878371e-01 2.56315912e-03 9.86310576e-01 3.99806153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62863999999996 meters Centerline goodness : 0.999363 with order 1 Centerline is valid? [True, True] Translation: X:334.65, Y:83.97, Z:39.99 [[ 7.75646886e-01 -6.17917050e-01 -1.28648462e-01 3.34645524e+02] [ 6.09248003e-01 7.86241599e-01 -1.03155319e-01 8.39704349e+01] [ 1.64890203e-01 1.63328303e-03 9.86310577e-01 3.99904148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68863999999996 meters Centerline goodness : 0.989531 with order 1 Centerline is valid? [True, True] Translation: X:334.69, Y:84.00, Z:40.02 [[ 7.71503610e-01 -6.23085395e-01 -1.28634250e-01 3.34693352e+02] [ 6.14484370e-01 7.82153619e-01 -1.03173038e-01 8.40013291e+01] [ 1.64897357e-01 5.54634750e-04 9.86310577e-01 4.00165980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74863999999997 meters Centerline goodness : 0.998385 with order 1 Centerline is valid? [True, True] Translation: X:334.75, Y:84.03, Z:40.01 [[ 7.67783821e-01 -6.27664054e-01 -1.28630634e-01 3.34746139e+02] [ 6.19125783e-01 7.78484206e-01 -1.03177546e-01 8.40341468e+01] [ 1.64897754e-01 -4.20491979e-04 9.86310577e-01 4.00105301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80863999999997 meters Centerline goodness : 0.988001 with order 1 Centerline is valid? [True, True] Translation: X:334.79, Y:84.07, Z:40.04 [[ 7.69047830e-01 -6.26116183e-01 -1.28623333e-01 3.34793450e+02] [ 6.17554852e-01 7.79729774e-01 -1.03186647e-01 8.40652647e+01] [ 1.64898272e-01 -7.64961800e-05 9.86310577e-01 4.00386145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86863999999997 meters Centerline goodness : 0.998530 with order 1 Centerline is valid? [True, True] Translation: X:334.85, Y:84.10, Z:40.03 [[ 7.69120154e-01 -6.26027338e-01 -1.28623333e-01 3.34846163e+02] [ 6.17464774e-01 7.79801109e-01 -1.03186647e-01 8.40981968e+01] [ 1.64898280e-01 -5.74471069e-05 9.86310577e-01 4.00304358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92864 meters Centerline goodness : 0.997893 with order 1 Centerline is valid? [True, True] Translation: X:334.90, Y:84.13, Z:40.04 [[ 7.67738196e-01 -6.27722866e-01 -1.28615966e-01 3.34898500e+02] [ 6.19182352e-01 7.78436790e-01 -1.03195829e-01 8.41260887e+01] [ 1.64897781e-01 -4.09356266e-04 9.86310577e-01 4.00413139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98864 meters Centerline goodness : 0.997797 with order 1 Centerline is valid? [True, True] Translation: X:334.95, Y:84.16, Z:40.05 [[ 7.67345342e-01 -6.28213297e-01 -1.28565860e-01 3.34948932e+02] [ 6.19669166e-01 7.78041044e-01 -1.03258217e-01 8.41562229e+01] [ 1.64897700e-01 -4.33587479e-04 9.86310580e-01 4.00491304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04864 meters Centerline goodness : 0.988488 with order 1 Centerline is valid? [True, True] Translation: X:334.99, Y:84.19, Z:40.07 [[ 7.70035836e-01 -6.24922780e-01 -1.28515876e-01 3.34994860e+02] [ 6.16322563e-01 7.80686489e-01 -1.03320390e-01 8.41888016e+01] [ 1.64897873e-01 3.53169273e-04 9.86310583e-01 4.00731742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10864 meters Centerline goodness : 0.996720 with order 1 Centerline is valid? [True, True] Translation: X:335.05, Y:84.22, Z:40.07 [[ 7.73157474e-01 -6.21057982e-01 -1.28508764e-01 3.35046120e+02] [ 6.12403057e-01 7.83763718e-01 -1.03329235e-01 8.42221977e+01] [ 1.64893953e-01 1.19060990e-03 9.86310583e-01 4.00667964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16864 meters Centerline goodness : 0.988824 with order 1 Centerline is valid? [True, True] Translation: X:335.09, Y:84.25, Z:40.09 [[ 7.77815077e-01 -6.15225496e-01 -1.28457363e-01 3.35091203e+02] [ 6.06480501e-01 7.88347176e-01 -1.03393098e-01 8.42547856e+01] [ 1.64879069e-01 2.51382494e-03 9.86310587e-01 4.00914636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22864 meters Centerline goodness : 0.997005 with order 1 Centerline is valid? [True, True] Translation: X:335.14, Y:84.29, Z:40.08 [[ 7.79715322e-01 -6.12825964e-01 -1.28406986e-01 3.35140493e+02] [ 6.04038265e-01 7.90211812e-01 -1.03455625e-01 8.42896468e+01] [ 1.64869010e-01 3.10320348e-03 9.86310590e-01 4.00841677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28863999999993 meters Centerline goodness : 0.996769 with order 1 Centerline is valid? [True, True] Translation: X:335.19, Y:84.33, Z:40.09 [[ 7.81054345e-01 -6.11130480e-01 -1.28349706e-01 3.35185865e+02] [ 6.02308333e-01 7.91521893e-01 -1.03526640e-01 8.43262344e+01] [ 1.64859888e-01 3.55383461e-03 9.86310594e-01 4.00942824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34863999999993 meters Centerline goodness : 0.997406 with order 1 Centerline is valid? [True, True] Translation: X:335.23, Y:84.36, Z:40.10 [[ 7.86183652e-01 -6.04528284e-01 -1.28299723e-01 3.35229053e+02] [ 5.95608170e-01 7.96567838e-01 -1.03588548e-01 8.43648391e+01] [ 1.64821640e-01 5.02326021e-03 9.86310597e-01 4.01035398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40863999999993 meters Centerline goodness : 0.997013 with order 1 Centerline is valid? [True, True] Translation: X:335.27, Y:84.40, Z:40.11 [[ 7.89067104e-01 -6.00770079e-01 -1.28251385e-01 3.35272928e+02] [ 5.91790814e-01 7.99400181e-01 -1.03648361e-01 8.44024053e+01] [ 1.64793014e-01 5.88752059e-03 9.86310600e-01 4.01127339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46863999999994 meters Centerline goodness : 0.997111 with order 1 Centerline is valid? [True, True] Translation: X:335.32, Y:84.44, Z:40.12 [[ 7.90341960e-01 -5.99103549e-01 -1.28197210e-01 3.35315061e+02] [ 5.90091660e-01 8.00646591e-01 -1.03715325e-01 8.44418725e+01] [ 1.64776878e-01 6.32246903e-03 9.86310604e-01 4.01221746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52863999999994 meters Centerline goodness : 0.987977 with order 1 Centerline is valid? [True, True] Translation: X:335.35, Y:84.48, Z:40.15 [[ 7.90493471e-01 -5.98915069e-01 -1.28143717e-01 3.35354744e+02] [ 5.89890040e-01 8.00786592e-01 -1.03781375e-01 8.44790436e+01] [ 1.64772000e-01 6.44779707e-03 9.86310607e-01 4.01477172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58863999999994 meters Centerline goodness : 0.996818 with order 1 Centerline is valid? [True, True] Translation: X:335.40, Y:84.52, Z:40.14 [[ 7.89372274e-01 -6.00403456e-01 -1.28090215e-01 3.35400473e+02] [ 5.91387152e-01 7.99673033e-01 -1.03847369e-01 8.45191891e+01] [ 1.64780610e-01 6.22332635e-03 9.86310611e-01 4.01425191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64863999999994 meters Centerline goodness : 0.987428 with order 1 Centerline is valid? [True, True] Translation: X:335.44, Y:84.56, Z:40.17 [[ 7.87602073e-01 -6.02733876e-01 -1.28042377e-01 3.35440608e+02] [ 5.93738490e-01 7.97921100e-01 -1.03906320e-01 8.45575191e+01] [ 1.64795573e-01 5.81314526e-03 9.86310614e-01 4.01661519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70863999999995 meters Centerline goodness : 0.997063 with order 1 Centerline is valid? [True, True] Translation: X:335.49, Y:84.60, Z:40.16 [[ 7.88157979e-01 -6.02016056e-01 -1.27998702e-01 3.35485654e+02] [ 5.93002557e-01 7.98461186e-01 -1.03960095e-01 8.45985527e+01] [ 1.64787641e-01 6.03342080e-03 9.86310616e-01 4.01620539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76863999999995 meters Centerline goodness : 0.996673 with order 1 Centerline is valid? [True, True] Translation: X:335.53, Y:84.64, Z:40.17 [[ 7.87161790e-01 -6.03327577e-01 -1.27953705e-01 3.35527008e+02] [ 5.94322266e-01 7.97472151e-01 -1.04015447e-01 8.46395273e+01] [ 1.64794904e-01 5.83124997e-03 9.86310618e-01 4.01725230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82863999999995 meters Centerline goodness : 0.996278 with order 1 Centerline is valid? [True, True] Translation: X:335.57, Y:84.68, Z:40.18 [[ 7.84702689e-01 -6.06532525e-01 -1.27906163e-01 3.35569945e+02] [ 5.97559823e-01 7.95041437e-01 -1.04073877e-01 8.46793240e+01] [ 1.64814891e-01 5.23546739e-03 9.86310621e-01 4.01826655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88863999999995 meters Centerline goodness : 0.995301 with order 1 Centerline is valid? [True, True] Translation: X:335.61, Y:84.72, Z:40.19 [[ 7.79819734e-01 -6.12807852e-01 -1.27858201e-01 3.35611568e+02] [ 6.03908727e-01 7.90221878e-01 -1.04132767e-01 8.47184089e+01] [ 1.64849725e-01 3.99010369e-03 9.86310624e-01 4.01927147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94863999999995 meters Centerline goodness : 0.996572 with order 1 Centerline is valid? [True, True] Translation: X:335.66, Y:84.75, Z:40.20 [[ 7.74430712e-01 -6.19615616e-01 -1.27802819e-01 3.35656562e+02] [ 6.10796749e-01 7.84900979e-01 -1.04200695e-01 8.47540378e+01] [ 1.64876935e-01 2.63467262e-03 9.86310628e-01 4.01998748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00863999999996 meters Centerline goodness : 0.995301 with order 1 Centerline is valid? [True, True] Translation: X:335.70, Y:84.79, Z:40.21 [[ 7.70618642e-01 -6.24361901e-01 -1.27746332e-01 3.35700027e+02] [ 6.15596055e-01 7.81133334e-01 -1.04269901e-01 8.47904833e+01] [ 1.64889072e-01 1.71219106e-03 9.86310632e-01 4.02115657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06863999999996 meters Centerline goodness : 0.995397 with order 1 Centerline is valid? [True, True] Translation: X:335.74, Y:84.83, Z:40.22 [[ 7.70061093e-01 -6.25061300e-01 -1.27688231e-01 3.35744014e+02] [ 6.16293213e-01 7.80573911e-01 -1.04341004e-01 8.48278063e+01] [ 1.64889625e-01 1.65555731e-03 9.86310636e-01 4.02205279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12863999999996 meters Centerline goodness : 0.994901 with order 1 Centerline is valid? [True, True] Translation: X:335.79, Y:84.86, Z:40.23 [[ 7.66799793e-01 -6.29061554e-01 -1.27670041e-01 3.35789004e+02] [ 6.20344608e-01 7.77355053e-01 -1.04363256e-01 8.48630861e+01] [ 1.64895863e-01 8.26302151e-04 9.86310636e-01 4.02292029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18863999999996 meters Centerline goodness : 0.995648 with order 1 Centerline is valid? [True, True] Translation: X:335.84, Y:84.89, Z:40.24 [[ 7.61867429e-01 -6.35038123e-01 -1.27611143e-01 3.35837440e+02] [ 6.26391920e-01 7.72480710e-01 -1.04435226e-01 8.48940440e+01] [ 1.64897496e-01 -3.68791758e-04 9.86310641e-01 4.02392430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24863999999997 meters Centerline goodness : 0.973545 with order 1 Centerline is valid? [True, True] Translation: X:335.89, Y:84.92, Z:40.27 [[ 7.55741019e-01 -6.42328392e-01 -1.27552922e-01 3.35885471e+02] [ 6.33772561e-01 7.66427281e-01 -1.04506288e-01 8.49224566e+01] [ 1.64887395e-01 -1.85985342e-03 9.86310645e-01 4.02725370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30863999999997 meters Centerline goodness : 0.995792 with order 1 Centerline is valid? [True, True] Translation: X:335.94, Y:84.96, Z:40.26 [[ 7.52659689e-01 -6.45937427e-01 -1.27546982e-01 3.35940657e+02] [ 6.37431602e-01 7.63385796e-01 -1.04513536e-01 8.49554749e+01] [ 1.64876759e-01 -2.63935207e-03 9.86310645e-01 4.02575747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36863999999997 meters Centerline goodness : 0.984939 with order 1 Centerline is valid? [True, True] Translation: X:335.99, Y:84.98, Z:40.29 [[ 7.55187763e-01 -6.42980492e-01 -1.27544225e-01 3.35989969e+02] [ 6.34432096e-01 7.65879973e-01 -1.04516900e-01 8.49842245e+01] [ 1.64885896e-01 -1.98826645e-03 9.86310645e-01 4.02851661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42864 meters Centerline goodness : 0.996916 with order 1 Centerline is valid? [True, True] Translation: X:336.04, Y:85.02, Z:40.28 [[ 7.56030343e-01 -6.41992987e-01 -1.27526957e-01 3.36041751e+02] [ 6.33427071e-01 7.66708523e-01 -1.04537966e-01 8.50176631e+01] [ 1.64888646e-01 -1.74515270e-03 9.86310645e-01 4.02775084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48864 meters Centerline goodness : 0.997601 with order 1 Centerline is valid? [True, True] Translation: X:336.09, Y:85.05, Z:40.29 [[ 7.58534834e-01 -6.39034089e-01 -1.27516033e-01 3.36088779e+02] [ 6.30424277e-01 7.69177651e-01 -1.04551290e-01 8.50502266e+01] [ 1.64894321e-01 -1.08340761e-03 9.86310645e-01 4.02873076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54864 meters Centerline goodness : 0.997603 with order 1 Centerline is valid? [True, True] Translation: X:336.13, Y:85.09, Z:40.30 [[ 7.61180769e-01 -6.35891747e-01 -1.27457927e-01 3.36132840e+02] [ 6.27226139e-01 7.71778201e-01 -1.04622079e-01 8.50860018e+01] [ 1.64897566e-01 -3.08629204e-04 9.86310650e-01 4.02968022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60864 meters Centerline goodness : 0.986191 with order 1 Centerline is valid? [True, True] Translation: X:336.18, Y:85.12, Z:40.33 [[ 7.68004153e-01 -6.27645639e-01 -1.27399266e-01 3.36176235e+02] [ 6.18854402e-01 7.78497596e-01 -1.04693464e-01 8.51204769e+01] [ 1.64890418e-01 1.56341846e-03 9.86310654e-01 4.03251944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66864 meters Centerline goodness : 0.998972 with order 1 Centerline is valid? [True, True] Translation: X:336.22, Y:85.16, Z:40.32 [[ 7.69230869e-01 -6.26151263e-01 -1.27351737e-01 3.36221947e+02] [ 6.17330075e-01 7.79699144e-01 -1.04751248e-01 8.51618800e+01] [ 1.64886167e-01 1.95983637e-03 9.86310656e-01 4.03157091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72864 meters Centerline goodness : 0.998726 with order 1 Centerline is valid? [True, True] Translation: X:336.26, Y:85.20, Z:40.33 [[ 7.71408769e-01 -6.23469110e-01 -1.27337268e-01 3.36263189e+02] [ 6.14608624e-01 7.81843802e-01 -1.04768834e-01 8.52023049e+01] [ 1.64877985e-01 2.55701437e-03 9.86310657e-01 4.03254942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78863999999993 meters Centerline goodness : 0.999020 with order 1 Centerline is valid? [True, True] Translation: X:336.30, Y:85.24, Z:40.34 [[ 7.72408976e-01 -6.22241447e-01 -1.27279042e-01 3.36303468e+02] [ 6.13352731e-01 7.82819967e-01 -1.04839524e-01 8.52441990e+01] [ 1.64872072e-01 2.91204146e-03 9.86310661e-01 4.03354693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84863999999993 meters Centerline goodness : 0.999168 with order 1 Centerline is valid? [True, True] Translation: X:336.35, Y:85.28, Z:40.34 [[ 7.68827648e-01 -6.26671145e-01 -1.27229414e-01 3.36347217e+02] [ 6.17832460e-01 7.79281143e-01 -1.04899717e-01 8.52834978e+01] [ 1.64885109e-01 2.04334046e-03 9.86310664e-01 4.03426314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90863999999993 meters Centerline goodness : 0.998630 with order 1 Centerline is valid? [True, True] Translation: X:336.39, Y:85.32, Z:40.35 [[ 7.66333290e-01 -6.29729166e-01 -1.27178878e-01 3.36389093e+02] [ 6.20922034e-01 7.76813379e-01 -1.04960951e-01 8.53228540e+01] [ 1.64891226e-01 1.46690342e-03 9.86310667e-01 4.03533143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96863999999994 meters Centerline goodness : 0.998187 with order 1 Centerline is valid? [True, True] Translation: X:336.43, Y:85.36, Z:40.36 [[ 7.64959946e-01 -6.31408403e-01 -1.27120849e-01 3.36430660e+02] [ 6.22612605e-01 7.75449543e-01 -1.05031186e-01 8.53620169e+01] [ 1.64893377e-01 1.19760724e-03 9.86310671e-01 4.03615552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02863999999994 meters Centerline goodness : 0.997211 with order 1 Centerline is valid? [True, True] Translation: X:336.47, Y:85.40, Z:40.37 [[ 7.63594314e-01 -6.33071010e-01 -1.27062268e-01 3.36474160e+02] [ 6.24286264e-01 7.74093165e-01 -1.05102008e-01 8.53989053e+01] [ 1.64895067e-01 9.32067369e-04 9.86310675e-01 4.03712884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08863999999994 meters Centerline goodness : 0.996669 with order 1 Centerline is valid? [True, True] Translation: X:336.52, Y:85.44, Z:40.38 [[ 7.61447276e-01 -6.35663541e-01 -1.27003577e-01 3.36518239e+02] [ 6.26902719e-01 7.71966092e-01 -1.05172882e-01 8.54372441e+01] [ 1.64897021e-01 4.64716407e-04 9.86310679e-01 4.03809911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14863999999994 meters Centerline goodness : 0.996569 with order 1 Centerline is valid? [True, True] Translation: X:336.56, Y:85.47, Z:40.39 [[ 7.59457498e-01 -6.38049794e-01 -1.26951836e-01 3.36563019e+02] [ 6.29311586e-01 7.69995104e-01 -1.05235301e-01 8.54735031e+01] [ 1.64897654e-01 2.94769956e-05 9.86310683e-01 4.03912147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20863999999995 meters Centerline goodness : 0.996716 with order 1 Centerline is valid? [True, True] Translation: X:336.61, Y:85.51, Z:40.40 [[ 7.58201258e-01 -6.39552369e-01 -1.26900042e-01 3.36605773e+02] [ 6.30824594e-01 7.68747502e-01 -1.05297722e-01 8.55124992e+01] [ 1.64897498e-01 -2.14802146e-04 9.86310686e-01 4.04000377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26863999999995 meters Centerline goodness : 0.996965 with order 1 Centerline is valid? [True, True] Translation: X:336.65, Y:85.55, Z:40.41 [[ 7.59043821e-01 -6.38562346e-01 -1.26848760e-01 3.36649869e+02] [ 6.29810496e-01 7.69570090e-01 -1.05359464e-01 8.55504199e+01] [ 1.64897598e-01 8.17695091e-05 9.86310689e-01 4.04090557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32863999999995 meters Centerline goodness : 0.991237 with order 1 Centerline is valid? [True, True] Translation: X:336.69, Y:85.59, Z:40.43 [[ 7.59237054e-01 -6.38342743e-01 -1.26797627e-01 3.36690955e+02] [ 6.29577574e-01 7.69752231e-01 -1.05420967e-01 8.55877556e+01] [ 1.64897465e-01 2.10561776e-04 9.86310692e-01 4.04339822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38863999999995 meters Centerline goodness : 0.990101 with order 1 Centerline is valid? [True, True] Translation: X:336.74, Y:85.62, Z:40.44 [[ 7.58813787e-01 -6.38855963e-01 -1.26746575e-01 3.36735959e+02] [ 6.30087658e-01 7.69326345e-01 -1.05482311e-01 8.56245160e+01] [ 1.64897483e-01 1.79979259e-04 9.86310695e-01 4.04446602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44863999999995 meters Centerline goodness : 0.996573 with order 1 Centerline is valid? [True, True] Translation: X:336.78, Y:85.66, Z:40.44 [[ 7.56369578e-01 -6.41758156e-01 -1.26694636e-01 3.36782289e+02] [ 6.33019741e-01 7.66906991e-01 -1.05544658e-01 8.56631362e+01] [ 1.64897148e-01 -3.69437460e-04 9.86310699e-01 4.04390476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50863999999996 meters Centerline goodness : 0.990611 with order 1 Centerline is valid? [True, True] Translation: X:336.82, Y:85.70, Z:40.46 [[ 7.57251539e-01 -6.40727611e-01 -1.26642157e-01 3.36824002e+02] [ 6.31964328e-01 7.67768276e-01 -1.05607591e-01 8.56992922e+01] [ 1.64897530e-01 -6.18144609e-05 9.86310702e-01 4.04632196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56863999999996 meters Centerline goodness : 0.987342 with order 1 Centerline is valid? [True, True] Translation: X:336.87, Y:85.74, Z:40.48 [[ 7.56370047e-01 -6.41778091e-01 -1.26590815e-01 3.36867810e+02] [ 6.33019117e-01 7.66890369e-01 -1.05669100e-01 8.57370582e+01] [ 1.64897390e-01 -2.09463644e-04 9.86310705e-01 4.04751346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62863999999996 meters Centerline goodness : 0.987723 with order 1 Centerline is valid? [True, True] Translation: X:336.91, Y:85.77, Z:40.48 [[ 7.57900012e-01 -6.39980807e-01 -1.26539081e-01 3.36912112e+02] [ 6.31186545e-01 7.68390849e-01 -1.05731016e-01 8.57745078e+01] [ 1.64897293e-01 2.63772574e-04 9.86310708e-01 4.04849755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68863999999996 meters Centerline goodness : 0.995303 with order 1 Centerline is valid? [True, True] Translation: X:336.96, Y:85.81, Z:40.48 [[ 7.58636094e-01 -6.39118386e-01 -1.26487020e-01 3.36957888e+02] [ 6.30301818e-01 7.69108188e-01 -1.05793261e-01 8.58141475e+01] [ 1.64896621e-01 5.33587291e-04 9.86310712e-01 4.04787992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74863999999997 meters Centerline goodness : 0.995486 with order 1 Centerline is valid? [True, True] Translation: X:337.00, Y:85.85, Z:40.49 [[ 7.60836555e-01 -6.36507672e-01 -1.26434646e-01 3.37000759e+02] [ 6.27644774e-01 7.71269462e-01 -1.05855817e-01 8.58532573e+01] [ 1.64893221e-01 1.18293008e-03 9.86310715e-01 4.04863820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80863999999997 meters Centerline goodness : 0.995689 with order 1 Centerline is valid? [True, True] Translation: X:337.04, Y:85.89, Z:40.50 [[ 7.61551872e-01 -6.35663546e-01 -1.26374849e-01 3.37042871e+02] [ 6.26777243e-01 7.71964847e-01 -1.05927158e-01 8.58912865e+01] [ 1.64890974e-01 1.46014626e-03 9.86310719e-01 4.04977319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86863999999997 meters Centerline goodness : 0.995745 with order 1 Centerline is valid? [True, True] Translation: X:337.08, Y:85.93, Z:40.51 [[ 7.62619857e-01 -6.34393663e-01 -1.26315613e-01 3.37083825e+02] [ 6.25478329e-01 7.73007980e-01 -1.05997750e-01 8.59324069e+01] [ 1.64887278e-01 1.82831024e-03 9.86310723e-01 4.05081332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92864 meters Centerline goodness : 0.995349 with order 1 Centerline is valid? [True, True] Translation: X:337.13, Y:85.97, Z:40.52 [[ 7.61965345e-01 -6.35189916e-01 -1.26263946e-01 3.37127649e+02] [ 6.26275244e-01 7.72354033e-01 -1.06059260e-01 8.59700365e+01] [ 1.64888241e-01 1.73749723e-03 9.86310726e-01 4.05163724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98864 meters Centerline goodness : 0.995590 with order 1 Centerline is valid? [True, True] Translation: X:337.17, Y:86.01, Z:40.53 [[ 7.60535964e-01 -6.36912408e-01 -1.26204722e-01 3.37169712e+02] [ 6.28009577e-01 7.70934796e-01 -1.06129688e-01 8.60083795e+01] [ 1.64890927e-01 1.45767082e-03 9.86310731e-01 4.05277208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04864 meters Centerline goodness : 0.981659 with order 1 Centerline is valid? [True, True] Translation: X:337.21, Y:86.05, Z:40.56 [[ 7.58480049e-01 -6.39363729e-01 -1.26182556e-01 3.37212232e+02] [ 6.30490123e-01 7.68903830e-01 -1.06156036e-01 8.60451933e+01] [ 1.64894570e-01 9.60380243e-04 9.86310731e-01 4.05564449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10864 meters Centerline goodness : 0.995691 with order 1 Centerline is valid? [True, True] Translation: X:337.26, Y:86.08, Z:40.55 [[ 7.55513413e-01 -6.42867310e-01 -1.26178864e-01 3.37261581e+02] [ 6.34041310e-01 7.65977533e-01 -1.06160424e-01 8.60833485e+01] [ 1.64897241e-01 2.03012199e-04 9.86310731e-01 4.05470622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16864 meters Centerline goodness : 0.996869 with order 1 Centerline is valid? [True, True] Translation: X:337.31, Y:86.12, Z:40.56 [[ 7.52946106e-01 -6.45873226e-01 -1.26174232e-01 3.37306491e+02] [ 6.37088078e-01 7.63444547e-01 -1.06165929e-01 8.61188545e+01] [ 1.64896761e-01 -4.46875831e-04 9.86310731e-01 4.05557603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22864 meters Centerline goodness : 0.997603 with order 1 Centerline is valid? [True, True] Translation: X:337.35, Y:86.15, Z:40.56 [[ 7.51420603e-01 -6.47651700e-01 -1.26152103e-01 3.37353692e+02] [ 6.38886986e-01 7.61936108e-01 -1.06192218e-01 8.61531540e+01] [ 1.64895413e-01 -8.01916318e-04 9.86310732e-01 4.05638054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28863999999993 meters Centerline goodness : 0.996525 with order 1 Centerline is valid? [True, True] Translation: X:337.40, Y:86.19, Z:40.57 [[ 7.51183707e-01 -6.47929286e-01 -1.26137539e-01 3.37400385e+02] [ 6.39165554e-01 7.61700029e-01 -1.06209514e-01 8.61880788e+01] [ 1.64895222e-01 -8.39913983e-04 9.86310732e-01 4.05738854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34863999999993 meters Centerline goodness : 0.995843 with order 1 Centerline is valid? [True, True] Translation: X:337.45, Y:86.22, Z:40.58 [[ 7.52635323e-01 -6.46245354e-01 -1.26123011e-01 3.37446173e+02] [ 6.37455200e-01 7.63129571e-01 -1.06226763e-01 8.62232414e+01] [ 1.64896752e-01 -4.47755199e-04 9.86310732e-01 4.05836212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40863999999993 meters Centerline goodness : 0.986774 with order 1 Centerline is valid? [True, True] Translation: X:337.49, Y:86.26, Z:40.61 [[ 7.53941682e-01 -6.44723675e-01 -1.26108376e-01 3.37489990e+02] [ 6.35909435e-01 7.64415708e-01 -1.06244134e-01 8.62574540e+01] [ 1.64897333e-01 -9.16249678e-05 9.86310733e-01 4.06083123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46863999999994 meters Centerline goodness : 0.995061 with order 1 Centerline is valid? [True, True] Translation: X:337.54, Y:86.29, Z:40.61 [[ 7.53504050e-01 -6.45237940e-01 -1.26093806e-01 3.37540275e+02] [ 6.36427955e-01 7.63981654e-01 -1.06261424e-01 8.62917611e+01] [ 1.64897257e-01 -1.81209557e-04 9.86310733e-01 4.06052524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52863999999994 meters Centerline goodness : 0.985958 with order 1 Centerline is valid? [True, True] Translation: X:337.58, Y:86.33, Z:40.63 [[ 7.53622065e-01 -6.45110354e-01 -1.26041322e-01 3.37584878e+02] [ 6.36288187e-01 7.64089410e-01 -1.06323642e-01 8.63250271e+01] [ 1.64897322e-01 -7.07615563e-05 9.86310736e-01 4.06284360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58863999999994 meters Centerline goodness : 0.992805 with order 1 Centerline is valid? [True, True] Translation: X:337.63, Y:86.36, Z:40.63 [[ 7.52564922e-01 -6.46353344e-01 -1.25989654e-01 3.37632939e+02] [ 6.37538220e-01 7.63038194e-01 -1.06384832e-01 8.63595380e+01] [ 1.64897110e-01 -2.61727035e-04 9.86310739e-01 4.06253155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64863999999994 meters Centerline goodness : 0.993395 with order 1 Centerline is valid? [True, True] Translation: X:337.68, Y:86.39, Z:40.63 [[ 7.53369323e-01 -6.45427154e-01 -1.25930347e-01 3.37679760e+02] [ 6.36587423e-01 7.63821830e-01 -1.06454990e-01 8.63934146e+01] [ 1.64897290e-01 3.42482483e-05 9.86310743e-01 4.06347600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70863999999995 meters Centerline goodness : 0.987022 with order 1 Centerline is valid? [True, True] Translation: X:337.72, Y:86.43, Z:40.66 [[ 7.54882379e-01 -6.43668434e-01 -1.25871129e-01 3.37723135e+02] [ 6.34792680e-01 7.65304309e-01 -1.06524965e-01 8.64294029e+01] [ 1.64896474e-01 5.11747754e-04 9.86310748e-01 4.06559734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76863999999995 meters Centerline goodness : 0.993345 with order 1 Centerline is valid? [True, True] Translation: X:337.77, Y:86.47, Z:40.65 [[ 7.54741898e-01 -6.43843247e-01 -1.25819476e-01 3.37770878e+02] [ 6.34959740e-01 7.65157216e-01 -1.06585939e-01 8.64661364e+01] [ 1.64896317e-01 5.54572254e-04 9.86310751e-01 4.06518053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82863999999995 meters Centerline goodness : 0.992408 with order 1 Centerline is valid? [True, True] Translation: X:337.82, Y:86.50, Z:40.66 [[ 7.51255453e-01 -6.47918215e-01 -1.25766574e-01 3.37818159e+02] [ 6.39080756e-01 7.61709867e-01 -1.06648325e-01 8.64993186e+01] [ 1.64897033e-01 -2.54861133e-04 9.86310754e-01 4.06638682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88863999999995 meters Centerline goodness : 0.986360 with order 1 Centerline is valid? [True, True] Translation: X:337.86, Y:86.53, Z:40.68 [[ 7.50193120e-01 -6.49158141e-01 -1.25713922e-01 3.37864428e+02] [ 6.40327565e-01 7.60653344e-01 -1.06710354e-01 8.65306097e+01] [ 1.64896611e-01 -4.44715992e-04 9.86310757e-01 4.06844568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94863999999995 meters Centerline goodness : 0.992705 with order 1 Centerline is valid? [True, True] Translation: X:337.91, Y:86.57, Z:40.68 [[ 7.50042099e-01 -6.49344165e-01 -1.25654306e-01 3.37911820e+02] [ 6.40504428e-01 7.60494577e-01 -1.06780509e-01 8.65670181e+01] [ 1.64896719e-01 -3.92262469e-04 9.86310762e-01 4.06830934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00863999999996 meters Centerline goodness : 0.992663 with order 1 Centerline is valid? [True, True] Translation: X:337.96, Y:86.60, Z:40.69 [[ 7.54991022e-01 -6.43593690e-01 -1.25601426e-01 3.37955315e+02] [ 6.34663994e-01 7.65366747e-01 -1.06842675e-01 8.66049519e+01] [ 1.64894426e-01 9.50557815e-04 9.86310765e-01 4.06931376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06863999999996 meters Centerline goodness : 0.991921 with order 1 Centerline is valid? [True, True] Translation: X:338.00, Y:86.64, Z:40.70 [[ 7.55985882e-01 -6.42435023e-01 -1.25549141e-01 3.37998726e+02] [ 6.33479225e-01 7.66339083e-01 -1.06904079e-01 8.66422656e+01] [ 1.64892138e-01 1.28520227e-03 9.86310768e-01 4.07043541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12863999999996 meters Centerline goodness : 0.993085 with order 1 Centerline is valid? [True, True] Translation: X:338.04, Y:86.69, Z:40.71 [[ 7.59256202e-01 -6.38578417e-01 -1.25489545e-01 3.38037662e+02] [ 6.29558478e-01 7.69553564e-01 -1.06973991e-01 8.66868577e+01] [ 1.64882209e-01 2.21765960e-03 9.86310772e-01 4.07139194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18863999999996 meters Centerline goodness : 0.992516 with order 1 Centerline is valid? [True, True] Translation: X:338.07, Y:86.73, Z:40.72 [[ 7.64356514e-01 -6.32474159e-01 -1.25441454e-01 3.38074758e+02] [ 6.23362755e-01 7.74573030e-01 -1.07030356e-01 8.67315324e+01] [ 1.64857501e-01 3.61381935e-03 9.86310775e-01 4.07226262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24863999999997 meters Centerline goodness : 0.992106 with order 1 Centerline is valid? [True, True] Translation: X:338.11, Y:86.78, Z:40.73 [[ 7.69413460e-01 -6.26324219e-01 -1.25383015e-01 3.38105950e+02] [ 6.17120044e-01 7.79546473e-01 -1.07098772e-01 8.67836131e+01] [ 1.64820442e-01 5.02686542e-03 9.86310779e-01 4.07328042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30863999999997 meters Centerline goodness : 0.993391 with order 1 Centerline is valid? [True, True] Translation: X:338.15, Y:86.82, Z:40.74 [[ 7.69899132e-01 -6.25738660e-01 -1.25325400e-01 3.38146452e+02] [ 6.16515827e-01 7.80015161e-01 -1.07166151e-01 8.68237114e+01] [ 1.64813716e-01 5.24203342e-03 9.86310783e-01 4.07423540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36863999999997 meters Centerline goodness : 0.994371 with order 1 Centerline is valid? [True, True] Translation: X:338.18, Y:86.88, Z:40.75 [[ 7.68351010e-01 -6.27649959e-01 -1.25268729e-01 3.38177032e+02] [ 6.18441514e-01 7.78480132e-01 -1.07232356e-01 8.68771498e+01] [ 1.64823600e-01 4.92070650e-03 9.86310786e-01 4.07531605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42864 meters Centerline goodness : 0.993925 with order 1 Centerline is valid? [True, True] Translation: X:338.22, Y:86.92, Z:40.76 [[ 7.64760264e-01 -6.32022977e-01 -1.25254522e-01 3.38215675e+02] [ 6.22869751e-01 7.74939312e-01 -1.07248947e-01 8.69192970e+01] [ 1.64848452e-01 4.00247968e-03 9.86310787e-01 4.07632312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48864 meters Centerline goodness : 0.994661 with order 1 Centerline is valid? [True, True] Translation: X:338.25, Y:86.96, Z:40.77 [[ 7.61155932e-01 -6.36363394e-01 -1.25232899e-01 3.38254197e+02] [ 6.27264072e-01 7.71383194e-01 -1.07274190e-01 8.69641568e+01] [ 1.64867921e-01 3.09828757e-03 9.86310787e-01 4.07723132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54864 meters Centerline goodness : 0.995744 with order 1 Centerline is valid? [True, True] Translation: X:338.30, Y:87.00, Z:40.78 [[ 7.58296081e-01 -6.39771404e-01 -1.25218223e-01 3.38295570e+02] [ 6.30715224e-01 7.68561565e-01 -1.07291319e-01 8.70048560e+01] [ 1.64879831e-01 2.38154725e-03 9.86310788e-01 4.07813008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60864 meters Centerline goodness : 0.997308 with order 1 Centerline is valid? [True, True] Translation: X:338.34, Y:87.04, Z:40.79 [[ 7.53651963e-01 -6.45238605e-01 -1.25203277e-01 3.38338664e+02] [ 6.36254005e-01 7.63980152e-01 -1.07308757e-01 8.70444095e+01] [ 1.64892571e-01 1.21236896e-03 9.86310788e-01 4.07914852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66864 meters Centerline goodness : 0.996869 with order 1 Centerline is valid? [True, True] Translation: X:338.39, Y:87.08, Z:40.80 [[ 7.50909766e-01 -6.48429278e-01 -1.25195824e-01 3.38387466e+02] [ 6.39487113e-01 7.61274718e-01 -1.07317452e-01 8.70814238e+01] [ 1.64896193e-01 5.24606853e-04 9.86310788e-01 4.07993401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72864 meters Centerline goodness : 0.996767 with order 1 Centerline is valid? [True, True] Translation: X:338.43, Y:87.12, Z:40.81 [[ 7.51048065e-01 -6.48267657e-01 -1.25203234e-01 3.38432386e+02] [ 6.39324703e-01 7.61412335e-01 -1.07308806e-01 8.71230694e+01] [ 1.64896115e-01 5.48550615e-04 9.86310788e-01 4.08110187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78863999999993 meters Centerline goodness : 0.997357 with order 1 Centerline is valid? [True, True] Translation: X:338.48, Y:87.16, Z:40.82 [[ 7.51916882e-01 -6.47249698e-01 -1.25255064e-01 3.38477745e+02] [ 6.38302794e-01 7.62277739e-01 -1.07248274e-01 8.71637407e+01] [ 1.64895560e-01 6.91130498e-04 9.86310791e-01 4.08212527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84863999999993 meters Centerline goodness : 0.996511 with order 1 Centerline is valid? [True, True] Translation: X:338.52, Y:87.21, Z:40.83 [[ 7.54719162e-01 -6.43969844e-01 -1.25306933e-01 3.38519304e+02] [ 6.34987979e-01 7.65049722e-01 -1.07187638e-01 8.72109286e+01] [ 1.64891641e-01 1.32816800e-03 9.86310794e-01 4.08311982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90863999999993 meters Centerline goodness : 0.997849 with order 1 Centerline is valid? [True, True] Translation: X:338.56, Y:87.26, Z:40.84 [[ 7.56852311e-01 -6.41450071e-01 -1.25365010e-01 3.38561557e+02] [ 6.32445068e-01 7.67162703e-01 -1.07119671e-01 8.72554928e+01] [ 1.64887280e-01 1.78728808e-03 9.86310798e-01 4.08415645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96863999999994 meters Centerline goodness : 0.997602 with order 1 Centerline is valid? [True, True] Translation: X:338.60, Y:87.30, Z:40.85 [[ 7.57334815e-01 -6.40870312e-01 -1.25416194e-01 3.38602283e+02] [ 6.31867342e-01 7.67646977e-01 -1.07059711e-01 8.73022311e+01] [ 1.64886753e-01 1.83364868e-03 9.86310801e-01 4.08520486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02863999999994 meters Centerline goodness : 0.996968 with order 1 Centerline is valid? [True, True] Translation: X:338.65, Y:87.35, Z:40.86 [[ 7.55697547e-01 -6.42790133e-01 -1.25467372e-01 3.38645497e+02] [ 6.33823321e-01 7.66041162e-01 -1.06999701e-01 8.73466256e+01] [ 1.64891523e-01 1.33526484e-03 9.86310804e-01 4.08606914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08863999999994 meters Centerline goodness : 0.996721 with order 1 Centerline is valid? [True, True] Translation: X:338.69, Y:87.39, Z:40.87 [[ 7.54179045e-01 -6.44561161e-01 -1.25518434e-01 3.38691838e+02] [ 6.35628610e-01 7.64552258e-01 -1.06939768e-01 8.73882296e+01] [ 1.64894624e-01 8.68624643e-04 9.86310807e-01 4.08705763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14863999999994 meters Centerline goodness : 0.996179 with order 1 Centerline is valid? [True, True] Translation: X:338.74, Y:87.43, Z:40.88 [[ 7.51098016e-01 -6.48137505e-01 -1.25576851e-01 3.38737780e+02] [ 6.39265819e-01 7.61523325e-01 -1.06871128e-01 8.74289118e+01] [ 1.64896887e-01 -6.29584782e-06 9.86310811e-01 4.08808046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20863999999995 meters Centerline goodness : 0.996034 with order 1 Centerline is valid? [True, True] Translation: X:338.79, Y:87.47, Z:40.89 [[ 7.49992300e-01 -6.49406741e-01 -1.25628158e-01 3.38785573e+02] [ 6.40562804e-01 7.60441156e-01 -1.06810782e-01 8.74683933e+01] [ 1.64896464e-01 -3.65461143e-04 9.86310814e-01 4.08908935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26863999999995 meters Centerline goodness : 0.997450 with order 1 Centerline is valid? [True, True] Translation: X:338.83, Y:87.51, Z:40.90 [[ 7.46778714e-01 -6.53088506e-01 -1.25685937e-01 3.38834598e+02] [ 6.44307526e-01 7.57280527e-01 -1.06742751e-01 8.75062093e+01] [ 1.64891976e-01 -1.26718085e-03 9.86310818e-01 4.09004814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32863999999995 meters Centerline goodness : 0.996866 with order 1 Centerline is valid? [True, True] Translation: X:338.89, Y:87.54, Z:40.91 [[ 7.42434909e-01 -6.58011385e-01 -1.25743479e-01 3.38885058e+02] [ 6.49311508e-01 7.53004002e-01 -1.06674924e-01 8.75421312e+01] [ 1.64878657e-01 -2.44749980e-03 9.86310822e-01 4.09102485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38863999999995 meters Centerline goodness : 0.997701 with order 1 Centerline is valid? [True, True] Translation: X:338.94, Y:87.58, Z:40.92 [[ 7.37734766e-01 -6.63267426e-01 -1.25792436e-01 3.38935840e+02] [ 6.54652666e-01 7.48373348e-01 -1.06617163e-01 8.75785185e+01] [ 1.64855398e-01 -3.69516580e-03 9.86310825e-01 4.09203890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44863999999995 meters Centerline goodness : 0.997750 with order 1 Centerline is valid? [True, True] Translation: X:338.99, Y:87.61, Z:40.93 [[ 7.36980759e-01 -6.64094676e-01 -1.25847617e-01 3.38986386e+02] [ 6.55502972e-01 7.47637965e-01 -1.06551990e-01 8.76127552e+01] [ 1.64849065e-01 -3.96672090e-03 9.86310829e-01 4.09322114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50863999999996 meters Centerline goodness : 0.997942 with order 1 Centerline is valid? [True, True] Translation: X:339.04, Y:87.65, Z:40.94 [[ 7.38064117e-01 -6.62881336e-01 -1.25895570e-01 3.39037762e+02] [ 6.54281770e-01 7.48714976e-01 -1.06495302e-01 8.76489653e+01] [ 1.64853647e-01 -3.77081600e-03 9.86310831e-01 4.09416358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56863999999996 meters Centerline goodness : 0.997748 with order 1 Centerline is valid? [True, True] Translation: X:339.09, Y:87.68, Z:40.95 [[ 7.38579577e-01 -6.62296500e-01 -1.25950603e-01 3.39088361e+02] [ 6.53699595e-01 7.49232579e-01 -1.06430176e-01 8.76845055e+01] [ 1.64854628e-01 -3.72670404e-03 9.86310835e-01 4.09514856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62863999999996 meters Centerline goodness : 0.997849 with order 1 Centerline is valid? [True, True] Translation: X:339.14, Y:87.72, Z:40.96 [[ 7.36119738e-01 -6.65020334e-01 -1.25998754e-01 3.39140908e+02] [ 6.56472589e-01 7.46812222e-01 -1.06373142e-01 8.77174435e+01] [ 1.64837712e-01 -4.41135899e-03 9.86310838e-01 4.09625001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68863999999996 meters Centerline goodness : 0.998185 with order 1 Centerline is valid? [True, True] Translation: X:339.19, Y:87.75, Z:40.97 [[ 7.35901025e-01 -6.65253289e-01 -1.26046589e-01 3.39190363e+02] [ 6.56718627e-01 7.46603952e-01 -1.06316431e-01 8.77541618e+01] [ 1.64834237e-01 -4.53877181e-03 9.86310840e-01 4.09728146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74863999999997 meters Centerline goodness : 0.998236 with order 1 Centerline is valid? [True, True] Translation: X:339.24, Y:87.79, Z:40.98 [[ 7.37680631e-01 -6.63270277e-01 -1.26094513e-01 3.39242045e+02] [ 6.54716549e-01 7.48368323e-01 -1.06259561e-01 8.77851352e+01] [ 1.64843948e-01 -4.17054416e-03 9.86310843e-01 4.09830615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80863999999997 meters Centerline goodness : 0.998482 with order 1 Centerline is valid? [True, True] Translation: X:339.29, Y:87.82, Z:40.99 [[ 7.39423212e-01 -6.61327066e-01 -1.26094513e-01 3.39291149e+02] [ 6.52745247e-01 7.50088361e-01 -1.06259561e-01 8.78157521e+01] [ 1.64854351e-01 -3.73680797e-03 9.86310843e-01 4.09948022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86863999999997 meters Centerline goodness : 0.998382 with order 1 Centerline is valid? [True, True] Translation: X:339.34, Y:87.84, Z:41.00 [[ 7.39831331e-01 -6.60873117e-01 -1.26080633e-01 3.39343014e+02] [ 6.52281949e-01 7.50488950e-01 -1.06276028e-01 8.78441210e+01] [ 1.64857092e-01 -3.61378572e-03 9.86310843e-01 4.10039994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92864 meters Centerline goodness : 0.997992 with order 1 Centerline is valid? [True, True] Translation: X:339.39, Y:87.87, Z:41.01 [[ 7.40951852e-01 -6.59619217e-01 -1.26066816e-01 3.39393528e+02] [ 6.51007226e-01 7.51592651e-01 -1.06292416e-01 8.78745574e+01] [ 1.64863413e-01 -3.31284619e-03 9.86310844e-01 4.10149425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98864 meters Centerline goodness : 0.997357 with order 1 Centerline is valid? [True, True] Translation: X:339.44, Y:87.91, Z:41.02 [[ 7.43005129e-01 -6.57308190e-01 -1.26052852e-01 3.39442920e+02] [ 6.48660291e-01 7.53616766e-01 -1.06308973e-01 8.79054276e+01] [ 1.64873301e-01 -2.77736780e-03 9.86310844e-01 4.10240669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04864 meters Centerline goodness : 0.987520 with order 1 Centerline is valid? [True, True] Translation: X:339.49, Y:87.94, Z:41.05 [[ 7.45387903e-01 -6.54614381e-01 -1.26003515e-01 3.39488646e+02] [ 6.45918247e-01 7.55960045e-01 -1.06367420e-01 8.79362111e+01] [ 1.64883265e-01 -2.10298148e-03 9.86310847e-01 4.10513080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10864 meters Centerline goodness : 0.997845 with order 1 Centerline is valid? [True, True] Translation: X:339.54, Y:87.97, Z:41.04 [[ 7.45666488e-01 -6.54306594e-01 -1.25953839e-01 3.39538595e+02] [ 6.45596166e-01 7.56226852e-01 -1.06426211e-01 8.79725197e+01] [ 1.64885047e-01 -1.95685676e-03 9.86310850e-01 4.10413333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16864 meters Centerline goodness : 0.996817 with order 1 Centerline is valid? [True, True] Translation: X:339.59, Y:88.01, Z:41.05 [[ 7.44793482e-01 -6.55309995e-01 -1.25902657e-01 3.39586139e+02] [ 6.46603566e-01 7.55357138e-01 -1.06486726e-01 8.80066310e+01] [ 1.64883286e-01 -2.09848769e-03 9.86310853e-01 4.10513563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.2286399999999 meters Centerline goodness : 0.996667 with order 1 Centerline is valid? [True, True] Translation: X:339.63, Y:88.04, Z:41.06 [[ 7.44351950e-01 -6.55821149e-01 -1.25852271e-01 3.39631901e+02] [ 6.47111911e-01 7.54913288e-01 -1.06546242e-01 8.80427633e+01] [ 1.64882831e-01 -2.13260106e-03 9.86310856e-01 4.10614868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28863999999993 meters Centerline goodness : 0.983978 with order 1 Centerline is valid? [True, True] Translation: X:339.68, Y:88.08, Z:41.09 [[ 7.46691659e-01 -6.53165854e-01 -1.25801164e-01 3.39676971e+02] [ 6.44408894e-01 7.57213458e-01 -1.06606552e-01 8.80757646e+01] [ 1.64890094e-01 -1.46516576e-03 9.86310859e-01 4.10897095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34863999999993 meters Centerline goodness : 0.997944 with order 1 Centerline is valid? [True, True] Translation: X:339.73, Y:88.11, Z:41.08 [[ 7.47042748e-01 -6.52764979e-01 -1.25797511e-01 3.39725847e+02] [ 6.44001647e-01 7.57559240e-01 -1.06610863e-01 8.81127890e+01] [ 1.64890904e-01 -1.37093242e-03 9.86310859e-01 4.10824040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40863999999993 meters Centerline goodness : 0.986299 with order 1 Centerline is valid? [True, True] Translation: X:339.77, Y:88.15, Z:41.11 [[ 7.52185683e-01 -6.46834253e-01 -1.25786122e-01 3.39768885e+02] [ 6.37985746e-01 7.62630610e-01 -1.06624299e-01 8.81472729e+01] [ 1.64896595e-01 -4.84816637e-05 9.86310859e-01 4.11098457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46863999999994 meters Centerline goodness : 0.997309 with order 1 Centerline is valid? [True, True] Translation: X:339.82, Y:88.18, Z:41.10 [[ 7.54445891e-01 -6.44206751e-01 -1.25734081e-01 3.39816942e+02] [ 6.35311643e-01 7.64851157e-01 -1.06685632e-01 8.81841304e+01] [ 1.64895461e-01 6.08211536e-04 9.86310862e-01 4.11044140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52863999999994 meters Centerline goodness : 0.996036 with order 1 Centerline is valid? [True, True] Translation: X:339.86, Y:88.22, Z:41.11 [[ 7.56682276e-01 -6.41588846e-01 -1.25680892e-01 3.39863355e+02] [ 6.32647336e-01 7.67047690e-01 -1.06748255e-01 8.82200207e+01] [ 1.64891728e-01 1.26283109e-03 9.86310866e-01 4.11137509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58863999999994 meters Centerline goodness : 0.996868 with order 1 Centerline is valid? [True, True] Translation: X:339.91, Y:88.26, Z:41.12 [[ 7.58171952e-01 -6.39837313e-01 -1.25632417e-01 3.39909018e+02] [ 6.30862409e-01 7.68508461e-01 -1.06805276e-01 8.82563384e+01] [ 1.64887576e-01 1.71999586e-03 9.86310868e-01 4.11228482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64863999999994 meters Centerline goodness : 0.995986 with order 1 Centerline is valid? [True, True] Translation: X:339.95, Y:88.29, Z:41.13 [[ 7.59445894e-01 -6.38334923e-01 -1.25580493e-01 3.39952857e+02] [ 6.29329482e-01 7.69755805e-01 -1.06866294e-01 8.82927669e+01] [ 1.64882801e-01 2.12766177e-03 9.86310871e-01 4.11337723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70863999999995 meters Centerline goodness : 0.995736 with order 1 Centerline is valid? [True, True] Translation: X:340.00, Y:88.33, Z:41.14 [[ 7.57966991e-01 -6.40101844e-01 -1.25521593e-01 3.39997366e+02] [ 6.31108987e-01 7.68287876e-01 -1.06935432e-01 8.83288097e+01] [ 1.64886285e-01 1.83572248e-03 9.86310876e-01 4.11441203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76863999999995 meters Centerline goodness : 0.975944 with order 1 Centerline is valid? [True, True] Translation: X:340.04, Y:88.36, Z:41.17 [[ 7.57301754e-01 -6.40900218e-01 -1.25463000e-01 3.40040113e+02] [ 6.31906859e-01 7.67622196e-01 -1.07004134e-01 8.83631134e+01] [ 1.64887156e-01 1.75348793e-03 9.86310880e-01 4.11728866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82863999999995 meters Centerline goodness : 0.995748 with order 1 Centerline is valid? [True, True] Translation: X:340.09, Y:88.40, Z:41.17 [[ 7.55877628e-01 -6.42582092e-01 -1.25448258e-01 3.40088611e+02] [ 6.33608831e-01 7.66215548e-01 -1.07021414e-01 8.84017155e+01] [ 1.64890450e-01 1.40996853e-03 9.86310880e-01 4.11652257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88863999999995 meters Centerline goodness : 0.995693 with order 1 Centerline is valid? [True, True] Translation: X:340.13, Y:88.44, Z:41.18 [[ 7.56853886e-01 -6.41433398e-01 -1.25440784e-01 3.40129335e+02] [ 6.32442995e-01 7.67176903e-01 -1.07030173e-01 8.84416339e+01] [ 1.64888000e-01 1.67205760e-03 9.86310880e-01 4.11759614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94863999999995 meters Centerline goodness : 0.979716 with order 1 Centerline is valid? [True, True] Translation: X:340.17, Y:88.48, Z:41.20 [[ 7.58960588e-01 -6.38950865e-01 -1.25381891e-01 3.40168492e+02] [ 6.29915307e-01 7.69244099e-01 -1.07099121e-01 8.84813372e+01] [ 1.64880356e-01 2.30403972e-03 9.86310884e-01 4.12025386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00863999999996 meters Centerline goodness : 0.982521 with order 1 Centerline is valid? [True, True] Translation: X:340.21, Y:88.52, Z:41.21 [[ 7.59943408e-01 -6.37786759e-01 -1.25355757e-01 3.40209181e+02] [ 6.28730407e-01 7.70208610e-01 -1.07129701e-01 8.85248705e+01] [ 1.64875988e-01 2.59753352e-03 9.86310885e-01 4.12087415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06863999999996 meters Centerline goodness : 0.995497 with order 1 Centerline is valid? [True, True] Translation: X:340.25, Y:88.57, Z:41.20 [[ 7.55619283e-01 -6.42905365e-01 -1.25348277e-01 3.40253983e+02] [ 6.33917106e-01 7.65944159e-01 -1.07138452e-01 8.85654303e+01] [ 1.64889667e-01 1.49546310e-03 9.86310885e-01 4.12040816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12863999999996 meters Centerline goodness : 0.983504 with order 1 Centerline is valid? [True, True] Translation: X:340.30, Y:88.60, Z:41.23 [[ 7.52726450e-01 -6.46300038e-01 -1.25296259e-01 3.40296761e+02] [ 6.37348221e-01 7.63082935e-01 -1.07199253e-01 8.86015580e+01] [ 1.64894318e-01 8.34365199e-04 9.86310888e-01 4.12277796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18863999999996 meters Centerline goodness : 0.983667 with order 1 Centerline is valid? [True, True] Translation: X:340.34, Y:88.63, Z:41.24 [[ 7.45582686e-01 -6.54538269e-01 -1.25244211e-01 3.40343947e+02] [ 6.45690667e-01 7.56028338e-01 -1.07260028e-01 8.86340194e+01] [ 1.64893966e-01 -8.97798281e-04 9.86310891e-01 4.12393682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24863999999997 meters Centerline goodness : 0.995600 with order 1 Centerline is valid? [True, True] Translation: X:340.39, Y:88.67, Z:41.24 [[ 7.43833846e-01 -6.56536440e-01 -1.25184317e-01 3.40392893e+02] [ 6.47705139e-01 7.54293277e-01 -1.07329887e-01 8.86693905e+01] [ 1.64891671e-01 -1.24692316e-03 9.86310895e-01 4.12352744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30863999999997 meters Centerline goodness : 0.996627 with order 1 Centerline is valid? [True, True] Translation: X:340.44, Y:88.70, Z:41.25 [[ 7.47097886e-01 -6.52829787e-01 -1.25132002e-01 3.40440608e+02] [ 6.43936376e-01 7.57504554e-01 -1.07390846e-01 8.87027809e+01] [ 1.64896004e-01 -3.45573604e-04 9.86310898e-01 4.12460563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36863999999997 meters Centerline goodness : 0.996384 with order 1 Centerline is valid? [True, True] Translation: X:340.48, Y:88.74, Z:41.26 [[ 7.53515350e-01 -6.45422011e-01 -1.25080154e-01 3.40483907e+02] [ 6.36416271e-01 7.63824960e-01 -1.07451200e-01 8.87404751e+01] [ 1.64890714e-01 1.36308368e-03 9.86310902e-01 4.12555985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42864 meters Centerline goodness : 0.996872 with order 1 Centerline is valid? [True, True] Translation: X:340.53, Y:88.78, Z:41.27 [[ 7.56139647e-01 -6.42357113e-01 -1.25020693e-01 3.40525979e+02] [ 6.33298155e-01 7.66402520e-01 -1.07520340e-01 8.87797067e+01] [ 1.64882630e-01 2.12501781e-03 9.86310906e-01 4.12661011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48864 meters Centerline goodness : 0.997456 with order 1 Centerline is valid? [True, True] Translation: X:340.57, Y:88.82, Z:41.27 [[ 7.58265388e-01 -6.39857956e-01 -1.24961587e-01 3.40570226e+02] [ 6.30753863e-01 7.68488239e-01 -1.07588992e-01 8.88171659e+01] [ 1.64873182e-01 2.76100528e-03 9.86310910e-01 4.12719439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54864 meters Centerline goodness : 0.987138 with order 1 Centerline is valid? [True, True] Translation: X:340.61, Y:88.85, Z:41.30 [[ 7.57478860e-01 -6.40800366e-01 -1.24902636e-01 3.40611661e+02] [ 6.31697716e-01 7.67702991e-01 -1.07657387e-01 8.88539466e+01] [ 1.64875020e-01 2.64748454e-03 9.86310914e-01 4.12970392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60864 meters Centerline goodness : 0.986549 with order 1 Centerline is valid? [True, True] Translation: X:340.66, Y:88.89, Z:41.31 [[ 7.56415576e-01 -6.42065106e-01 -1.24851415e-01 3.40655716e+02] [ 6.32969755e-01 7.66646196e-01 -1.07716757e-01 8.88922914e+01] [ 1.64878033e-01 2.45146313e-03 9.86310917e-01 4.13070519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66864 meters Centerline goodness : 0.997651 with order 1 Centerline is valid? [True, True] Translation: X:340.70, Y:88.93, Z:41.30 [[ 7.55463163e-01 -6.43195464e-01 -1.24799858e-01 3.40702141e+02] [ 6.34105560e-01 7.65698618e-01 -1.07776458e-01 8.89306308e+01] [ 1.64880408e-01 2.28486056e-03 9.86310920e-01 4.13017816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.7286399999999 meters Centerline goodness : 0.998290 with order 1 Centerline is valid? [True, True] Translation: X:340.75, Y:88.97, Z:41.31 [[ 7.54657164e-01 -6.44150914e-01 -1.24748404e-01 3.40745694e+02] [ 6.35064130e-01 7.64895386e-01 -1.07835982e-01 8.89687590e+01] [ 1.64882125e-01 2.15595954e-03 9.86310923e-01 4.13109996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78863999999993 meters Centerline goodness : 0.998336 with order 1 Centerline is valid? [True, True] Translation: X:340.79, Y:89.01, Z:41.32 [[ 7.54662047e-01 -6.44155149e-01 -1.24696988e-01 3.40789833e+02] [ 6.35058604e-01 7.64891594e-01 -1.07895405e-01 8.90076586e+01] [ 1.64881059e-01 2.23467238e-03 9.86310926e-01 4.13182681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84863999999993 meters Centerline goodness : 0.998678 with order 1 Centerline is valid? [True, True] Translation: X:340.83, Y:89.05, Z:41.33 [[ 7.55461917e-01 -6.43226897e-01 -1.24645300e-01 3.40831867e+02] [ 6.34107939e-01 7.65671484e-01 -1.07955085e-01 8.90464204e+01] [ 1.64876967e-01 2.51738116e-03 9.86310929e-01 4.13283593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90863999999993 meters Centerline goodness : 0.999265 with order 1 Centerline is valid? [True, True] Translation: X:340.87, Y:89.09, Z:41.34 [[ 7.57324218e-01 -6.41044699e-01 -1.24586205e-01 3.40872792e+02] [ 6.31885115e-01 7.67497349e-01 -1.08023242e-01 8.90884387e+01] [ 1.64867309e-01 3.08444902e-03 9.86310933e-01 4.13377975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96863999999994 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:340.91, Y:89.13, Z:41.35 [[ 7.59622313e-01 -6.38329965e-01 -1.24534322e-01 3.40912665e+02] [ 6.29124234e-01 7.69753700e-01 -1.08083023e-01 8.91306026e+01] [ 1.64853388e-01 3.75471575e-03 9.86310936e-01 4.13462437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02863999999994 meters Centerline goodness : 0.999070 with order 1 Centerline is valid? [True, True] Translation: X:340.95, Y:89.18, Z:41.36 [[ 7.63551828e-01 -6.33635729e-01 -1.24476379e-01 3.40948413e+02] [ 6.24356868e-01 7.73616275e-01 -1.08149714e-01 8.91768876e+01] [ 1.64824476e-01 4.86022953e-03 9.86310940e-01 4.13568588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08863999999994 meters Centerline goodness : 0.998872 with order 1 Centerline is valid? [True, True] Translation: X:340.99, Y:89.22, Z:41.37 [[ 7.64793557e-01 -6.32147618e-01 -1.24419472e-01 3.40989379e+02] [ 6.22838547e-01 7.74830063e-01 -1.08215144e-01 8.92185360e+01] [ 1.64811893e-01 5.26900234e-03 9.86310944e-01 4.13663869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14863999999994 meters Centerline goodness : 0.999315 with order 1 Centerline is valid? [True, True] Translation: X:341.02, Y:89.27, Z:41.38 [[ 7.66325175e-01 -6.30299872e-01 -1.24369603e-01 3.41024773e+02] [ 6.20957325e-01 7.76330524e-01 -1.08272428e-01 8.92670026e+01] [ 1.64796016e-01 5.74367124e-03 9.86310947e-01 4.13750385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20863999999995 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:341.06, Y:89.32, Z:41.38 [[ 7.64355194e-01 -6.32697189e-01 -1.24319769e-01 3.41059564e+02] [ 6.23376741e-01 7.74381128e-01 -1.08329618e-01 8.93155987e+01] [ 1.64810728e-01 5.30425336e-03 9.86310949e-01 4.13844023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26863999999995 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:341.09, Y:89.36, Z:41.39 [[ 7.61464271e-01 -6.36183278e-01 -1.24269869e-01 3.41093977e+02] [ 6.26899415e-01 7.71524088e-01 -1.08386832e-01 8.93635717e+01] [ 1.64831087e-01 4.62799209e-03 9.86310952e-01 4.13947979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32863999999995 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:341.13, Y:89.41, Z:41.40 [[ 7.59958252e-01 -6.37984325e-01 -1.24255605e-01 3.41128884e+02] [ 6.28721635e-01 7.70037568e-01 -1.08403181e-01 8.94117238e+01] [ 1.64841014e-01 4.25970462e-03 9.86310952e-01 4.14033030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38863999999995 meters Centerline goodness : 0.993059 with order 1 Centerline is valid? [True, True] Translation: X:341.17, Y:89.46, Z:41.43 [[ 7.58238154e-01 -6.40030500e-01 -1.24241136e-01 3.41165224e+02] [ 6.30792299e-01 7.68339919e-01 -1.08419762e-01 8.94562538e+01] [ 1.64851379e-01 3.83764878e-03 9.86310953e-01 4.14285161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44863999999995 meters Centerline goodness : 0.998680 with order 1 Centerline is valid? [True, True] Translation: X:341.21, Y:89.50, Z:41.42 [[ 7.53863843e-01 -6.45177270e-01 -1.24240076e-01 3.41206570e+02] [ 6.36007849e-01 7.64028081e-01 -1.08420977e-01 8.95047463e+01] [ 1.64873657e-01 2.71699062e-03 9.86310953e-01 4.14224249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50863999999996 meters Centerline goodness : 0.992320 with order 1 Centerline is valid? [True, True] Translation: X:341.25, Y:89.54, Z:41.45 [[ 7.48454493e-01 -6.51443341e-01 -1.24247517e-01 3.41247926e+02] [ 6.42360442e-01 7.58696121e-01 -1.08412448e-01 8.95448352e+01] [ 1.64890677e-01 1.33009391e-03 9.86310953e-01 4.14496672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56863999999996 meters Centerline goodness : 0.998237 with order 1 Centerline is valid? [True, True] Translation: X:341.29, Y:89.59, Z:41.44 [[ 7.45402016e-01 -6.54932471e-01 -1.24254951e-01 3.41294976e+02] [ 6.45898932e-01 7.55687209e-01 -1.08403927e-01 8.95873546e+01] [ 1.64895129e-01 5.48365694e-04 9.86310953e-01 4.14429140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62863999999996 meters Centerline goodness : 0.989003 with order 1 Centerline is valid? [True, True] Translation: X:341.34, Y:89.63, Z:41.47 [[ 7.41525954e-01 -6.59316380e-01 -1.24262504e-01 3.41337301e+02] [ 6.50345096e-01 7.51865494e-01 -1.08395269e-01 8.96271278e+01] [ 1.64895465e-01 -4.35604659e-04 9.86310953e-01 4.14720919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68863999999996 meters Centerline goodness : 0.990367 with order 1 Centerline is valid? [True, True] Translation: X:341.38, Y:89.67, Z:41.48 [[ 7.40343134e-01 -6.60641513e-01 -1.24277248e-01 3.41383160e+02] [ 6.51691573e-01 7.50701155e-01 -1.08378363e-01 8.96677733e+01] [ 1.64894319e-01 -7.53258301e-04 9.86310953e-01 4.14820201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74863999999997 meters Centerline goodness : 0.998827 with order 1 Centerline is valid? [True, True] Translation: X:341.43, Y:89.71, Z:41.47 [[ 7.40817747e-01 -6.60099774e-01 -1.24327609e-01 3.41431816e+02] [ 6.51151958e-01 7.51177598e-01 -1.08320559e-01 8.97097160e+01] [ 1.64894492e-01 -7.10373571e-04 9.86310956e-01 4.14730098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80863999999997 meters Centerline goodness : 0.989051 with order 1 Centerline is valid? [True, True] Translation: X:341.48, Y:89.75, Z:41.50 [[ 7.41171899e-01 -6.59692440e-01 -1.24378863e-01 3.41476484e+02] [ 6.50748809e-01 7.51535360e-01 -1.08261676e-01 8.97473458e+01] [ 1.64894523e-01 -6.98884632e-04 9.86310959e-01 4.15004793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86863999999997 meters Centerline goodness : 0.998044 with order 1 Centerline is valid? [True, True] Translation: X:341.53, Y:89.79, Z:41.49 [[ 7.41607051e-01 -6.59193598e-01 -1.24429829e-01 3.41525288e+02] [ 6.50252828e-01 7.51972976e-01 -1.08203068e-01 8.97886634e+01] [ 1.64894638e-01 -6.66689885e-04 9.86310962e-01 4.14935267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92864 meters Centerline goodness : 0.997214 with order 1 Centerline is valid? [True, True] Translation: X:341.57, Y:89.83, Z:41.50 [[ 7.41531197e-01 -6.59269390e-01 -1.24480341e-01 3.41572979e+02] [ 6.50339437e-01 7.51906438e-01 -1.08144927e-01 8.98265733e+01] [ 1.64894210e-01 -7.61637741e-04 9.86310965e-01 4.15048339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98864 meters Centerline goodness : 0.991184 with order 1 Centerline is valid? [True, True] Translation: X:341.62, Y:89.86, Z:41.53 [[ 7.43907918e-01 -6.56576699e-01 -1.24531317e-01 3.41618476e+02] [ 6.47619019e-01 7.54259226e-01 -1.08086196e-01 8.98645960e+01] [ 1.64895772e-01 -2.42672607e-04 9.86310968e-01 4.15297147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04864 meters Centerline goodness : 0.984871 with order 1 Centerline is valid? [True, True] Translation: X:341.66, Y:89.90, Z:41.54 [[ 7.47622834e-01 -6.52333745e-01 -1.24582438e-01 3.41661807e+02] [ 6.43327140e-01 7.57931597e-01 -1.08027241e-01 8.99041288e+01] [ 1.64894781e-01 6.16368705e-04 9.86310971e-01 4.15445985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10864 meters Centerline goodness : 0.997802 with order 1 Centerline is valid? [True, True] Translation: X:341.71, Y:89.95, Z:41.53 [[ 7.51991871e-01 -6.47292393e-01 -1.24582438e-01 3.41710282e+02] [ 6.38216682e-01 7.62239845e-01 -1.08027241e-01 8.99457328e+01] [ 1.64886910e-01 1.72501704e-03 9.86310971e-01 4.15343555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16864 meters Centerline goodness : 0.989188 with order 1 Centerline is valid? [True, True] Translation: X:341.75, Y:89.98, Z:41.56 [[ 7.52136885e-01 -6.47122477e-01 -1.24589751e-01 3.41754399e+02] [ 6.38045848e-01 7.62384046e-01 -1.08018806e-01 8.99849873e+01] [ 1.64886636e-01 1.75095527e-03 9.86310971e-01 4.15600443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.2286399999999 meters Centerline goodness : 0.997896 with order 1 Centerline is valid? [True, True] Translation: X:341.80, Y:90.03, Z:41.55 [[ 7.54932224e-01 -6.43849236e-01 -1.24641477e-01 3.41803139e+02] [ 6.34738035e-01 7.65148654e-01 -1.07959089e-01 9.00262501e+01] [ 1.64878635e-01 2.38710906e-03 9.86310974e-01 4.15544333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28863999999993 meters Centerline goodness : 0.998139 with order 1 Centerline is valid? [True, True] Translation: X:341.85, Y:90.07, Z:41.57 [[ 7.57372869e-01 -6.40966555e-01 -1.24692473e-01 3.41845837e+02] [ 6.31826166e-01 7.67563191e-01 -1.07900157e-01 9.00702171e+01] [ 1.64869744e-01 2.93668416e-03 9.86310977e-01 4.15653976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34863999999993 meters Centerline goodness : 0.986530 with order 1 Centerline is valid? [True, True] Translation: X:341.89, Y:90.11, Z:41.59 [[ 7.56944132e-01 -6.41462813e-01 -1.24743898e-01 3.41887748e+02] [ 6.32338902e-01 7.67149205e-01 -1.07840671e-01 9.01112017e+01] [ 1.64872963e-01 2.74894349e-03 9.86310980e-01 4.15932229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40863999999993 meters Centerline goodness : 0.997654 with order 1 Centerline is valid? [True, True] Translation: X:341.93, Y:90.16, Z:41.59 [[ 7.57608403e-01 -6.40668109e-01 -1.24795362e-01 3.41933487e+02] [ 6.31543301e-01 7.67812670e-01 -1.07781084e-01 9.01560142e+01] [ 1.64871364e-01 2.84218024e-03 9.86310983e-01 4.15862687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46863999999994 meters Centerline goodness : 0.996679 with order 1 Centerline is valid? [True, True] Translation: X:341.98, Y:90.20, Z:41.60 [[ 7.58367965e-01 -6.39758750e-01 -1.24846996e-01 3.41977765e+02] [ 6.30631551e-01 7.68570089e-01 -1.07721243e-01 9.01994820e+01] [ 1.64869274e-01 2.95988490e-03 9.86310986e-01 4.15980156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52863999999994 meters Centerline goodness : 0.995212 with order 1 Centerline is valid? [True, True] Translation: X:342.02, Y:90.24, Z:41.61 [[ 7.60179849e-01 -6.37593247e-01 -1.24905757e-01 3.42021111e+02] [ 6.28448180e-01 7.70365954e-01 -1.07653065e-01 9.02432546e+01] [ 1.64862010e-01 3.33889541e-03 9.86310990e-01 4.16076021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58863999999994 meters Centerline goodness : 0.996283 with order 1 Centerline is valid? [True, True] Translation: X:342.06, Y:90.29, Z:41.62 [[ 7.61726555e-01 -6.35734535e-01 -1.24957021e-01 3.42061633e+02] [ 6.26574370e-01 7.71899081e-01 -1.07593529e-01 9.02912593e+01] [ 1.64855132e-01 3.66198129e-03 9.86310993e-01 4.16179804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64863999999994 meters Centerline goodness : 0.997506 with order 1 Centerline is valid? [True, True] Translation: X:342.11, Y:90.33, Z:41.63 [[ 7.58748510e-01 -6.39274486e-01 -1.25015318e-01 3.42107453e+02] [ 6.30172946e-01 7.68973518e-01 -1.07525751e-01 9.03330293e+01] [ 1.64871938e-01 2.80373223e-03 9.86310997e-01 4.16271436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70863999999995 meters Centerline goodness : 0.997066 with order 1 Centerline is valid? [True, True] Translation: X:342.16, Y:90.37, Z:41.64 [[ 7.49885959e-01 -6.49636323e-01 -1.25074764e-01 3.42155961e+02] [ 6.40687630e-01 7.60244993e-01 -1.07456560e-01 9.03726934e+01] [ 1.64895147e-01 4.46311494e-04 9.86311001e-01 4.16366638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76863999999995 meters Centerline goodness : 0.997213 with order 1 Centerline is valid? [True, True] Translation: X:342.20, Y:90.41, Z:41.65 [[ 7.47924401e-01 -6.51882287e-01 -1.25134228e-01 3.42202718e+02] [ 6.42976290e-01 7.58320160e-01 -1.07387270e-01 9.04122022e+01] [ 1.64895666e-01 -1.40782100e-04 9.86311005e-01 4.16469989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82863999999995 meters Centerline goodness : 0.997604 with order 1 Centerline is valid? [True, True] Translation: X:342.25, Y:90.45, Z:41.66 [[ 7.49105196e-01 -6.50515195e-01 -1.25185409e-01 3.42248292e+02] [ 6.41600200e-01 7.59493236e-01 -1.07327574e-01 9.04528962e+01] [ 1.64895688e-01 8.06600158e-05 9.86311008e-01 4.16574636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88863999999995 meters Centerline goodness : 0.982302 with order 1 Centerline is valid? [True, True] Translation: X:342.29, Y:90.49, Z:41.69 [[ 7.48087411e-01 -6.51675659e-01 -1.25236020e-01 3.42293945e+02] [ 6.42786668e-01 7.58497707e-01 -1.07268485e-01 9.04865084e+01] [ 1.64895495e-01 -2.53840547e-04 9.86311011e-01 4.16910446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94863999999995 meters Centerline goodness : 0.988255 with order 1 Centerline is valid? [True, True] Translation: X:342.34, Y:90.53, Z:41.70 [[ 7.47243446e-01 -6.52641811e-01 -1.25243359e-01 3.42341573e+02] [ 6.43767717e-01 7.57666442e-01 -1.07259916e-01 9.05259247e+01] [ 1.64894996e-01 -4.78361772e-04 9.86311012e-01 4.16967184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00863999999996 meters Centerline goodness : 0.997457 with order 1 Centerline is valid? [True, True] Translation: X:342.39, Y:90.57, Z:41.69 [[ 7.47161899e-01 -6.52732444e-01 -1.25257545e-01 3.42390998e+02] [ 6.43862391e-01 7.57588335e-01 -1.07243347e-01 9.05666892e+01] [ 1.64894867e-01 -5.20480054e-04 9.86311012e-01 4.16898557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06863999999996 meters Centerline goodness : 0.998141 with order 1 Centerline is valid? [True, True] Translation: X:342.44, Y:90.60, Z:41.70 [[ 7.48057704e-01 -6.51695780e-01 -1.25308746e-01 3.42440164e+02] [ 6.42821303e-01 7.58480371e-01 -1.07183489e-01 9.06045895e+01] [ 1.64895251e-01 -3.71696157e-04 9.86311015e-01 4.17001802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12863999999996 meters Centerline goodness : 0.991773 with order 1 Centerline is valid? [True, True] Translation: X:342.49, Y:90.64, Z:41.73 [[ 7.49562342e-01 -6.49953454e-01 -1.25366672e-01 3.42486019e+02] [ 6.41066086e-01 7.59974014e-01 -1.07115694e-01 9.06415809e+01] [ 1.64895628e-01 -7.84313778e-05 9.86311019e-01 4.17263688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18863999999996 meters Centerline goodness : 0.998434 with order 1 Centerline is valid? [True, True] Translation: X:342.54, Y:90.68, Z:41.72 [[ 7.51093442e-01 -6.48173753e-01 -1.25417014e-01 3.42536008e+02] [ 6.39271560e-01 7.61492437e-01 -1.07056719e-01 9.06811593e+01] [ 1.64895463e-01 2.34069943e-04 9.86311022e-01 4.17207844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24863999999997 meters Centerline goodness : 0.997946 with order 1 Centerline is valid? [True, True] Translation: X:342.59, Y:90.72, Z:41.73 [[ 7.51974527e-01 -6.47141346e-01 -1.25468678e-01 3.42585588e+02] [ 6.38234982e-01 7.62369946e-01 -1.06996137e-01 9.07171831e+01] [ 1.64895173e-01 3.79870170e-04 9.86311025e-01 4.17312262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30863999999997 meters Centerline goodness : 0.998387 with order 1 Centerline is valid? [True, True] Translation: X:342.63, Y:90.75, Z:41.74 [[ 7.53574620e-01 -6.45267505e-01 -1.25519477e-01 3.42634828e+02] [ 6.36345221e-01 7.63956375e-01 -1.06936511e-01 9.07544727e+01] [ 1.64894060e-01 7.10921103e-04 9.86311028e-01 4.17420917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36863999999997 meters Centerline goodness : 0.993985 with order 1 Centerline is valid? [True, True] Translation: X:342.68, Y:90.79, Z:41.77 [[ 7.57886589e-01 -6.40187560e-01 -1.25569925e-01 3.42681092e+02] [ 6.31205511e-01 7.68216674e-01 -1.06877240e-01 9.07910149e+01] [ 1.64886390e-01 1.74039793e-03 9.86311031e-01 4.17682151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42864 meters Centerline goodness : 0.998631 with order 1 Centerline is valid? [True, True] Translation: X:342.73, Y:90.84, Z:41.76 [[ 7.61261899e-01 -6.36160120e-01 -1.25620950e-01 3.42727492e+02] [ 6.27133321e-01 7.71552899e-01 -1.06817233e-01 9.08353702e+01] [ 1.64876072e-01 2.53480601e-03 9.86311034e-01 4.17647790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48864 meters Centerline goodness : 0.996042 with order 1 Centerline is valid? [True, True] Translation: X:342.77, Y:90.88, Z:41.79 [[ 7.63081815e-01 -6.33970228e-01 -1.25649887e-01 3.42769071e+02] [ 6.24919501e-01 7.73351776e-01 -1.06783184e-01 9.08780085e+01] [ 1.64868923e-01 2.96324175e-03 9.86311035e-01 4.17871953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54864 meters Centerline goodness : 0.995989 with order 1 Centerline is valid? [True, True] Translation: X:342.81, Y:90.92, Z:41.80 [[ 7.59902145e-01 -6.37775188e-01 -1.25664397e-01 3.42812516e+02] [ 6.28778712e-01 7.70219663e-01 -1.06766106e-01 9.09226866e+01] [ 1.64881963e-01 2.11669485e-03 9.86311035e-01 4.17996545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60864 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:342.86, Y:90.97, Z:41.79 [[ 7.54056007e-01 -6.44665122e-01 -1.25723576e-01 3.42858183e+02] [ 6.35774549e-01 7.64464915e-01 -1.06696374e-01 9.09667711e+01] [ 1.64894694e-01 5.23191417e-04 9.86311039e-01 4.17947078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66864 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:342.90, Y:91.01, Z:41.81 [[ 7.51244442e-01 -6.47937146e-01 -1.25734809e-01 3.42901124e+02] [ 6.39094124e-01 7.61693777e-01 -1.06683135e-01 9.10120138e+01] [ 1.64895388e-01 -2.11265729e-04 9.86311039e-01 4.18051502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.7286399999999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:342.95, Y:91.05, Z:41.82 [[ 7.48041179e-01 -6.51621544e-01 -1.25792519e-01 3.42945816e+02] [ 6.42841431e-01 7.58543424e-01 -1.06615046e-01 9.10547892e+01] [ 1.64891749e-01 -1.11219829e-03 9.86311043e-01 4.18158200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78863999999993 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:342.99, Y:91.10, Z:41.83 [[ 7.44054560e-01 -6.56158978e-01 -1.25849938e-01 3.42991703e+02] [ 6.47454366e-01 7.54619463e-01 -1.06547225e-01 9.10973651e+01] [ 1.64880731e-01 -2.20514339e-03 9.86311047e-01 4.18271817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84863999999993 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:343.04, Y:91.14, Z:41.84 [[ 7.41097044e-01 -6.59486848e-01 -1.25905789e-01 3.43039872e+02] [ 6.50840880e-01 7.51709988e-01 -1.06481187e-01 9.11373385e+01] [ 1.64867581e-01 -3.03174154e-03 9.86311051e-01 4.18368384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90863999999993 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:343.09, Y:91.18, Z:41.85 [[ 7.37531945e-01 -6.63460875e-01 -1.25961492e-01 3.43088487e+02] [ 6.54883326e-01 7.48200256e-01 -1.06415253e-01 9.11755632e+01] [ 1.64846778e-01 -4.00543261e-03 9.86311055e-01 4.18471880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96863999999994 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:343.14, Y:91.21, Z:41.86 [[ 7.34964219e-01 -6.66293816e-01 -1.26016459e-01 3.43139577e+02] [ 6.57768528e-01 7.45674336e-01 -1.06350122e-01 9.12103184e+01] [ 1.64827668e-01 -4.72612665e-03 9.86311058e-01 4.18583951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:343.19, Y:91.24, Z:41.87 [[ 7.36115035e-01 -6.65013244e-01 -1.26063636e-01 3.43193038e+02] [ 6.56478891e-01 7.46817926e-01 -1.06294172e-01 9.12440362e+01] [ 1.64833615e-01 -4.51337783e-03 9.86311061e-01 4.18682600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:343.25, Y:91.28, Z:41.88 [[ 7.39432611e-01 -6.61312235e-01 -1.26117179e-01 3.43245227e+02] [ 6.52735129e-01 7.50101266e-01 -1.06230606e-01 9.12779454e+01] [ 1.64852255e-01 -3.77073870e-03 9.86311064e-01 4.18795614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:343.30, Y:91.31, Z:41.89 [[ 7.42673204e-01 -6.57660519e-01 -1.26171132e-01 3.43297561e+02] [ 6.49041829e-01 7.53308290e-01 -1.06166488e-01 9.13127227e+01] [ 1.64867267e-01 -3.04333660e-03 9.86311068e-01 4.18881812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.35, Y:91.35, Z:41.90 [[ 7.45156433e-01 -6.54835055e-01 -1.26225753e-01 3.43349762e+02] [ 6.46187036e-01 7.55767679e-01 -1.06101508e-01 9.13465943e+01] [ 1.64876331e-01 -2.50322444e-03 9.86311071e-01 4.18989243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26863999999995 meters Centerline goodness : 0.998676 with order 1 Centerline is valid? [True, True] Translation: X:343.40, Y:91.38, Z:41.92 [[ 7.47982283e-01 -6.51602031e-01 -1.26243006e-01 3.43398288e+02] [ 6.42911606e-01 7.58558827e-01 -1.06080976e-01 9.13786633e+01] [ 1.64885326e-01 -1.81640275e-03 9.86311072e-01 4.19241900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:343.45, Y:91.42, Z:41.92 [[ 7.51650354e-01 -6.47365968e-01 -1.26249946e-01 3.43450650e+02] [ 6.38617318e-01 7.62178785e-01 -1.06072716e-01 9.14152914e+01] [ 1.64892897e-01 -8.95807411e-04 9.86311072e-01 4.19171034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38863999999995 meters Centerline goodness : 0.995940 with order 1 Centerline is valid? [True, True] Translation: X:343.50, Y:91.45, Z:41.95 [[ 7.57028446e-01 -6.41067117e-01 -1.26257210e-01 3.43495823e+02] [ 6.32232301e-01 7.67484678e-01 -1.06064069e-01 9.14514512e+01] [ 1.64894661e-01 4.69630403e-04 9.86311072e-01 4.19497715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44863999999995 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:343.55, Y:91.49, Z:41.94 [[ 7.60429419e-01 -6.37023554e-01 -1.26285747e-01 3.43545570e+02] [ 6.28138782e-01 7.70843235e-01 -1.06030081e-01 9.14879408e+01] [ 1.64890173e-01 1.30341773e-03 9.86311073e-01 4.19373286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:343.59, Y:91.52, Z:41.95 [[ 7.61650284e-01 -6.35566246e-01 -1.26271101e-01 3.43592195e+02] [ 6.26658658e-01 7.72044591e-01 -1.06047520e-01 9.15230932e+01] [ 1.64887145e-01 1.64224484e-03 9.86311073e-01 4.19476560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:343.64, Y:91.56, Z:41.96 [[ 7.60211969e-01 -6.37288791e-01 -1.26256718e-01 3.43639560e+02] [ 6.28401912e-01 7.70623987e-01 -1.06064641e-01 9.15578241e+01] [ 1.64890262e-01 1.29164717e-03 9.86311073e-01 4.19558825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62863999999996 meters Centerline goodness : 0.998435 with order 1 Centerline is valid? [True, True] Translation: X:343.69, Y:91.59, Z:41.98 [[ 7.58679875e-01 -6.39114841e-01 -1.26242096e-01 3.43688452e+02] [ 6.30250128e-01 7.69110770e-01 -1.06082042e-01 9.15854822e+01] [ 1.64892763e-01 9.18212852e-04 9.86311073e-01 4.19794571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:343.74, Y:91.62, Z:41.97 [[ 7.57535602e-01 -6.40474276e-01 -1.26224062e-01 3.43738275e+02] [ 6.31624707e-01 7.67979347e-01 -1.06103496e-01 9.16207287e+01] [ 1.64894032e-01 6.50940160e-04 9.86311074e-01 4.19739184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74863999999997 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:343.79, Y:91.65, Z:41.98 [[ 7.58080143e-01 -6.39832580e-01 -1.26209215e-01 3.43790879e+02] [ 6.30971231e-01 7.68513895e-01 -1.06121153e-01 9.16484440e+01] [ 1.64893307e-01 8.13954886e-04 9.86311074e-01 4.19843043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80863999999997 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:343.84, Y:91.68, Z:41.99 [[ 7.59946377e-01 -6.37625074e-01 -1.26157713e-01 3.43837296e+02] [ 6.28723257e-01 7.70345621e-01 -1.06182345e-01 9.16821528e+01] [ 1.64889567e-01 1.37460051e-03 9.86311077e-01 4.19934856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86863999999997 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:343.89, Y:91.71, Z:42.00 [[ 7.62368979e-01 -6.34738228e-01 -1.26098856e-01 3.43885048e+02] [ 6.25785481e-01 7.72724403e-01 -1.06252197e-01 9.17138892e+01] [ 1.64881994e-01 2.09254570e-03 9.86311081e-01 4.20028383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92864 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:343.93, Y:91.75, Z:42.01 [[ 7.62421933e-01 -6.34686295e-01 -1.26040086e-01 3.43928776e+02] [ 6.25721325e-01 7.72766772e-01 -1.06321867e-01 9.17503662e+01] [ 1.64880622e-01 2.19615411e-03 9.86311085e-01 4.20141548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98864 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:343.98, Y:91.78, Z:42.02 [[ 7.62032342e-01 -6.35165530e-01 -1.25981979e-01 3.43976636e+02] [ 6.26195691e-01 7.72372955e-01 -1.06390676e-01 9.17841803e+01] [ 1.64880763e-01 2.18376361e-03 9.86311089e-01 4.20240147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04864 meters Centerline goodness : 0.992130 with order 1 Centerline is valid? [True, True] Translation: X:344.02, Y:91.82, Z:42.05 [[ 7.64899538e-01 -6.31719962e-01 -1.25930879e-01 3.44018319e+02] [ 6.22693598e-01 7.75190842e-01 -1.06451127e-01 9.18196213e+01] [ 1.64867766e-01 3.00806527e-03 9.86311093e-01 4.20547085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10864 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:344.07, Y:91.86, Z:42.04 [[ 7.65241304e-01 -6.31316052e-01 -1.25880058e-01 3.44065926e+02] [ 6.22274379e-01 7.75519157e-01 -1.06511190e-01 9.18579575e+01] [ 1.64864621e-01 3.17482708e-03 9.86311096e-01 4.20439564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:344.11, Y:91.89, Z:42.05 [[ 7.65530583e-01 -6.30975386e-01 -1.25829208e-01 3.44111495e+02] [ 6.21919276e-01 7.75795713e-01 -1.06571230e-01 9.18933259e+01] [ 1.64861583e-01 3.32792542e-03 9.86311099e-01 4.20539707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.2286399999999 meters Centerline goodness : 0.995259 with order 1 Centerline is valid? [True, True] Translation: X:344.15, Y:91.93, Z:42.08 [[ 7.66952686e-01 -6.29256129e-01 -1.25778783e-01 3.44154739e+02] [ 6.20167261e-01 7.77188819e-01 -1.06630711e-01 9.19283176e+01] [ 1.64851892e-01 3.77682689e-03 9.86311102e-01 4.20808946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28863999999993 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:344.20, Y:91.97, Z:42.07 [[ 7.69467435e-01 -6.26180716e-01 -1.25767955e-01 3.44199820e+02] [ 6.17048857e-01 7.79665233e-01 -1.06643481e-01 9.19699549e+01] [ 1.64834993e-01 4.45371299e-03 9.86311102e-01 4.20738242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34863999999993 meters Centerline goodness : 0.993693 with order 1 Centerline is valid? [True, True] Translation: X:344.24, Y:92.01, Z:42.10 [[ 7.74864893e-01 -6.19494391e-01 -1.25742183e-01 3.44238287e+02] [ 6.10269653e-01 7.84978751e-01 -1.06673860e-01 9.20090147e+01] [ 1.64788800e-01 5.92119102e-03 9.86311103e-01 4.21021993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40863999999993 meters Centerline goodness : 0.999412 with order 1 Centerline is valid? [True, True] Translation: X:344.28, Y:92.05, Z:42.09 [[ 7.77066203e-01 -6.16740951e-01 -1.25692942e-01 3.44283003e+02] [ 6.07471026e-01 7.87138657e-01 -1.06731849e-01 9.20517925e+01] [ 1.64763676e-01 6.58289231e-03 9.86311105e-01 4.20926465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46863999999994 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:344.32, Y:92.10, Z:42.10 [[ 7.78295783e-01 -6.15197803e-01 -1.25647673e-01 3.44321649e+02] [ 6.05899335e-01 7.88341890e-01 -1.06785115e-01 9.20951096e+01] [ 1.64747292e-01 6.98056335e-03 9.86311108e-01 4.21024139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52863999999994 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:344.36, Y:92.14, Z:42.11 [[ 7.74918092e-01 -6.19450497e-01 -1.25630542e-01 3.44362553e+02] [ 6.10203921e-01 7.85011981e-01 -1.06805266e-01 9.21367874e+01] [ 1.64782056e-01 6.10508339e-03 9.86311108e-01 4.21127728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58863999999994 meters Centerline goodness : 0.999510 with order 1 Centerline is valid? [True, True] Translation: X:344.41, Y:92.18, Z:42.12 [[ 7.70362635e-01 -6.25116398e-01 -1.25582241e-01 3.44405065e+02] [ 6.15934849e-01 7.80515706e-01 -1.06862030e-01 9.21768371e+01] [ 1.64820118e-01 4.97203625e-03 9.86311111e-01 4.21229747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64863999999994 meters Centerline goodness : 0.999706 with order 1 Centerline is valid? [True, True] Translation: X:344.45, Y:92.22, Z:42.13 [[ 7.69011141e-01 -6.26788071e-01 -1.25533177e-01 3.44445494e+02] [ 6.17619203e-01 7.79175662e-01 -1.06919635e-01 9.22182924e+01] [ 1.64828348e-01 4.69068987e-03 9.86311114e-01 4.21320456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70863999999995 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:344.48, Y:92.26, Z:42.14 [[ 7.70926037e-01 -6.24442888e-01 -1.25475593e-01 3.44484290e+02] [ 6.15232128e-01 7.81052606e-01 -1.06987171e-01 9.22620212e+01] [ 1.64810417e-01 5.28257987e-03 9.86311118e-01 4.21417877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76863999999995 meters Centerline goodness : 0.999364 with order 1 Centerline is valid? [True, True] Translation: X:344.52, Y:92.30, Z:42.15 [[ 7.70645220e-01 -6.24792271e-01 -1.25461397e-01 3.44524216e+02] [ 6.15583397e-01 7.80773504e-01 -1.07003816e-01 9.23049198e+01] [ 1.64812092e-01 5.23002570e-03 9.86311118e-01 4.21517263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82863999999995 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:344.56, Y:92.35, Z:42.16 [[ 7.66832104e-01 -6.29469253e-01 -1.25447137e-01 3.44563626e+02] [ 6.20319437e-01 7.77013772e-01 -1.07020532e-01 9.23478176e+01] [ 1.64840287e-01 4.24948228e-03 9.86311118e-01 4.21622752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88863999999995 meters Centerline goodness : 0.993206 with order 1 Centerline is valid? [True, True] Translation: X:344.60, Y:92.39, Z:42.19 [[ 7.62084006e-01 -6.35212232e-01 -1.25432802e-01 3.44602457e+02] [ 6.26136399e-01 7.72331677e-01 -1.07037330e-01 9.23867863e+01] [ 1.64867148e-01 3.03339464e-03 9.86311118e-01 4.21884376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94863999999995 meters Centerline goodness : 0.999118 with order 1 Centerline is valid? [True, True] Translation: X:344.65, Y:92.43, Z:42.18 [[ 7.59143929e-01 -6.38725888e-01 -1.25418244e-01 3.44648077e+02] [ 6.29694674e-01 7.69430943e-01 -1.07054385e-01 9.24268992e+01] [ 1.64879085e-01 2.29448605e-03 9.86311119e-01 4.21822374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00863999999996 meters Centerline goodness : 0.993157 with order 1 Centerline is valid? [True, True] Translation: X:344.69, Y:92.46, Z:42.21 [[ 7.56299220e-01 -6.42094607e-01 -1.25403371e-01 3.44691301e+02] [ 6.33106329e-01 7.66623770e-01 -1.07071805e-01 9.24620275e+01] [ 1.64887433e-01 1.58465539e-03 9.86311119e-01 4.22085039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06863999999996 meters Centerline goodness : 0.994235 with order 1 Centerline is valid? [True, True] Translation: X:344.74, Y:92.50, Z:42.22 [[ 7.53610464e-01 -6.45252405e-01 -1.25381821e-01 3.44736683e+02] [ 6.36303194e-01 7.63968894e-01 -1.07097034e-01 9.24982332e+01] [ 1.64892430e-01 9.28592326e-04 9.86311119e-01 4.22183686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12863999999996 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:344.78, Y:92.54, Z:42.21 [[ 7.53460598e-01 -6.45430361e-01 -1.25366567e-01 3.44784394e+02] [ 6.36480626e-01 7.63818574e-01 -1.07114888e-01 9.25366314e+01] [ 1.64892513e-01 9.13456272e-04 9.86311120e-01 4.22110161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18863999999996 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:344.83, Y:92.57, Z:42.22 [[ 7.52974500e-01 -6.46000280e-01 -1.25351670e-01 3.44831723e+02] [ 6.37055482e-01 7.63336740e-01 -1.07132318e-01 9.25709751e+01] [ 1.64893043e-01 8.11935107e-04 9.86311120e-01 4.22210897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:344.88, Y:92.61, Z:42.23 [[ 7.54290664e-01 -6.44465867e-01 -1.25336910e-01 3.44876133e+02] [ 6.35497121e-01 7.64632184e-01 -1.07149583e-01 9.26075701e+01] [ 1.64890884e-01 1.17068447e-03 9.86311120e-01 4.22317471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30863999999997 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:344.92, Y:92.64, Z:42.24 [[ 7.58031650e-01 -6.40064346e-01 -1.25322187e-01 3.44919541e+02] [ 6.31032710e-01 7.68318290e-01 -1.07166801e-01 9.26448418e+01] [ 1.64880977e-01 2.15342811e-03 9.86311120e-01 4.22410399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36863999999997 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:344.96, Y:92.68, Z:42.25 [[ 7.60486549e-01 -6.37149979e-01 -1.25300094e-01 3.44962110e+02] [ 6.28074672e-01 7.70734681e-01 -1.07192626e-01 9.26839839e+01] [ 1.64870907e-01 2.82073499e-03 9.86311121e-01 4.22502300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42864 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:345.01, Y:92.72, Z:42.26 [[ 7.59021411e-01 -6.38897534e-01 -1.25285428e-01 3.45008866e+02] [ 6.29842995e-01 7.69287897e-01 -1.07209764e-01 9.27178443e+01] [ 1.64876618e-01 2.46435708e-03 9.86311121e-01 4.22602642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48864 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:345.05, Y:92.75, Z:42.27 [[ 7.57129825e-01 -6.41140908e-01 -1.25270761e-01 3.45053911e+02] [ 6.32113956e-01 7.67420575e-01 -1.07226900e-01 9.27538542e+01] [ 1.64882911e-01 1.99928821e-03 9.86311121e-01 4.22695221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54864 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:345.10, Y:92.79, Z:42.28 [[ 7.57926224e-01 -6.40202144e-01 -1.25255952e-01 3.45097546e+02] [ 6.31159589e-01 7.68203265e-01 -1.07244196e-01 9.27923571e+01] [ 1.64879996e-01 2.22669282e-03 9.86311122e-01 4.22796612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60864 meters Centerline goodness : 0.999072 with order 1 Centerline is valid? [True, True] Translation: X:345.14, Y:92.83, Z:42.29 [[ 7.58799154e-01 -6.39170161e-01 -1.25241166e-01 3.45139465e+02] [ 6.30110780e-01 7.69061365e-01 -1.07261461e-01 9.28328198e+01] [ 1.64876467e-01 2.47409739e-03 9.86311122e-01 4.22896975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66864 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:345.18, Y:92.88, Z:42.30 [[ 7.60778972e-01 -6.36815272e-01 -1.25226456e-01 3.45179277e+02] [ 6.27721303e-01 7.71010546e-01 -1.07278632e-01 9.28757654e+01] [ 1.64867589e-01 3.00801361e-03 9.86311122e-01 4.23003200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.7286399999999 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:345.22, Y:92.92, Z:42.31 [[ 7.63592679e-01 -6.33441557e-01 -1.25211880e-01 3.45218434e+02] [ 6.24299601e-01 7.73781399e-01 -1.07295642e-01 9.29190892e+01] [ 1.64852142e-01 3.76044042e-03 9.86311123e-01 4.23086026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78863999999993 meters Centerline goodness : 0.998386 with order 1 Centerline is valid? [True, True] Translation: X:345.26, Y:92.96, Z:42.32 [[ 7.63639441e-01 -6.33388081e-01 -1.25197212e-01 3.45256401e+02] [ 6.24242609e-01 7.73825005e-01 -1.07312755e-01 9.29634185e+01] [ 1.64851353e-01 3.79481795e-03 9.86311123e-01 4.23204916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84863999999993 meters Centerline goodness : 0.999117 with order 1 Centerline is valid? [True, True] Translation: X:345.30, Y:93.00, Z:42.33 [[ 7.64366746e-01 -6.32513068e-01 -1.25182657e-01 3.45298680e+02] [ 6.23353158e-01 7.74539327e-01 -1.07329731e-01 9.30039802e+01] [ 1.64846348e-01 4.00627258e-03 9.86311123e-01 4.23293844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90863999999993 meters Centerline goodness : 0.997704 with order 1 Centerline is valid? [True, True] Translation: X:345.34, Y:93.05, Z:42.34 [[ 7.66307740e-01 -6.30162998e-01 -1.25168062e-01 3.45338511e+02] [ 6.20969119e-01 7.76449631e-01 -1.07346748e-01 9.30522291e+01] [ 1.64832644e-01 4.53514279e-03 9.86311123e-01 4.23387897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96863999999994 meters Centerline goodness : 0.997559 with order 1 Centerline is valid? [True, True] Translation: X:345.38, Y:93.10, Z:42.35 [[ 7.67704789e-01 -6.28450192e-01 -1.25218662e-01 3.45377116e+02] [ 6.19243305e-01 7.77834867e-01 -1.07287693e-01 9.31010848e+01] [ 1.64824412e-01 4.82445782e-03 9.86311126e-01 4.23489911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02863999999994 meters Centerline goodness : 0.995642 with order 1 Centerline is valid? [True, True] Translation: X:345.42, Y:93.15, Z:42.36 [[ 7.66044212e-01 -6.30463273e-01 -1.25269020e-01 3.45418133e+02] [ 6.21292616e-01 7.76207097e-01 -1.07228863e-01 9.31471018e+01] [ 1.64838562e-01 4.31333292e-03 9.86311129e-01 4.23585856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08863999999994 meters Centerline goodness : 0.996328 with order 1 Centerline is valid? [True, True] Translation: X:345.46, Y:93.19, Z:42.37 [[ 7.62040978e-01 -6.35286191e-01 -1.25319606e-01 3.45460913e+02] [ 6.26189587e-01 7.72270195e-01 -1.07169710e-01 9.31919437e+01] [ 1.64864034e-01 3.19387853e-03 9.86311132e-01 4.23701702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14863999999994 meters Centerline goodness : 0.994919 with order 1 Centerline is valid? [True, True] Translation: X:345.51, Y:93.23, Z:42.38 [[ 7.57063823e-01 -6.41205686e-01 -1.25338092e-01 3.45507634e+02] [ 6.32192655e-01 7.67366753e-01 -1.07148087e-01 9.32333223e+01] [ 1.64884247e-01 1.88011905e-03 9.86311133e-01 4.23798901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20863999999995 meters Centerline goodness : 0.995672 with order 1 Centerline is valid? [True, True] Translation: X:345.55, Y:93.28, Z:42.39 [[ 7.53130466e-01 -6.45809608e-01 -1.25397175e-01 3.45553410e+02] [ 6.36871080e-01 7.63498093e-01 -1.07078897e-01 9.32762246e+01] [ 1.64893085e-01 7.82545787e-04 9.86311137e-01 4.23892738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26863999999995 meters Centerline goodness : 0.994223 with order 1 Centerline is valid? [True, True] Translation: X:345.60, Y:93.31, Z:42.40 [[ 7.49556011e-01 -6.49943471e-01 -1.25456247e-01 3.45600219e+02] [ 6.41073708e-01 7.59982524e-01 -1.07009643e-01 9.33144184e+01] [ 1.64894774e-01 -2.16980928e-04 9.86311141e-01 4.24023153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32863999999995 meters Centerline goodness : 0.993262 with order 1 Centerline is valid? [True, True] Translation: X:345.65, Y:93.36, Z:42.41 [[ 7.49734988e-01 -6.49727862e-01 -1.25503595e-01 3.45646233e+02] [ 6.40864399e-01 7.60166854e-01 -1.06954084e-01 9.33565111e+01] [ 1.64894721e-01 -2.43567644e-04 9.86311143e-01 4.24140689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38863999999995 meters Centerline goodness : 0.993641 with order 1 Centerline is valid? [True, True] Translation: X:345.70, Y:93.39, Z:42.43 [[ 7.48606377e-01 -6.51016650e-01 -1.25561992e-01 3.45695744e+02] [ 6.42182649e-01 7.59063198e-01 -1.06885484e-01 9.33948094e+01] [ 1.64893717e-01 -6.18578004e-04 9.86311147e-01 4.24252110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44863999999995 meters Centerline goodness : 0.992482 with order 1 Centerline is valid? [True, True] Translation: X:345.74, Y:93.43, Z:42.44 [[ 7.47824634e-01 -6.51903441e-01 -1.25619346e-01 3.45744513e+02] [ 6.43093167e-01 7.58301448e-01 -1.06818036e-01 9.34341523e+01] [ 1.64892377e-01 -9.03784754e-04 9.86311151e-01 4.24358072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50863999999996 meters Centerline goodness : 0.991490 with order 1 Centerline is valid? [True, True] Translation: X:345.80, Y:93.47, Z:42.45 [[ 7.47538849e-01 -6.52219959e-01 -1.25677343e-01 3.45795479e+02] [ 6.43425596e-01 7.58029018e-01 -1.06749756e-01 9.34704302e+01] [ 1.64891395e-01 -1.06442961e-03 9.86311155e-01 4.24471177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56863999999996 meters Centerline goodness : 0.993113 with order 1 Centerline is valid? [True, True] Translation: X:345.84, Y:93.51, Z:42.46 [[ 7.48126915e-01 -6.51534340e-01 -1.25734336e-01 3.45844937e+02] [ 6.42741649e-01 7.58618480e-01 -1.06682586e-01 9.35080734e+01] [ 1.64891760e-01 -1.00258057e-03 9.86311159e-01 4.24575499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62863999999996 meters Centerline goodness : 0.993561 with order 1 Centerline is valid? [True, True] Translation: X:345.89, Y:93.55, Z:42.47 [[ 7.52937071e-01 -6.45958416e-01 -1.25791463e-01 3.45893384e+02] [ 6.37099282e-01 7.63372588e-01 -1.06615185e-01 9.35472383e+01] [ 1.64894731e-01 1.32874248e-04 9.86311163e-01 4.24697111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68863999999996 meters Centerline goodness : 0.993264 with order 1 Centerline is valid? [True, True] Translation: X:345.94, Y:93.59, Z:42.48 [[ 7.55745652e-01 -6.42659076e-01 -1.25848411e-01 3.45940591e+02] [ 6.33765582e-01 7.66151896e-01 -1.06547923e-01 9.35878831e+01] [ 1.64892988e-01 7.64738451e-04 9.86311167e-01 4.24813020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74863999999997 meters Centerline goodness : 0.993940 with order 1 Centerline is valid? [True, True] Translation: X:345.98, Y:93.63, Z:42.49 [[ 7.59151701e-01 -6.38620658e-01 -1.25906113e-01 3.45982990e+02] [ 6.29683121e-01 7.69520137e-01 -1.06479694e-01 9.36325954e+01] [ 1.64887422e-01 1.55328651e-03 9.86311171e-01 4.24919747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80863999999997 meters Centerline goodness : 0.993685 with order 1 Centerline is valid? [True, True] Translation: X:346.03, Y:93.67, Z:42.50 [[ 7.59291324e-01 -6.38444646e-01 -1.25956818e-01 3.46030800e+02] [ 6.29514657e-01 7.69666258e-01 -1.06419681e-01 9.36722483e+01] [ 1.64887789e-01 1.51187750e-03 9.86311174e-01 4.25027704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86863999999997 meters Centerline goodness : 0.994337 with order 1 Centerline is valid? [True, True] Translation: X:346.08, Y:93.71, Z:42.51 [[ 7.58048099e-01 -6.39908817e-01 -1.26015018e-01 3.46076846e+02] [ 6.31010328e-01 7.68450057e-01 -1.06350721e-01 9.37130252e+01] [ 1.64891012e-01 1.10218433e-03 9.86311178e-01 4.25129404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92864 meters Centerline goodness : 0.994617 with order 1 Centerline is valid? [True, True] Translation: X:346.13, Y:93.75, Z:42.52 [[ 7.55793971e-01 -6.42559677e-01 -1.26065596e-01 3.46126991e+02] [ 6.33707674e-01 7.66235514e-01 -1.06290734e-01 9.37496190e+01] [ 1.64894077e-01 4.45160281e-04 9.86311181e-01 4.25232379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98864 meters Centerline goodness : 0.995946 with order 1 Centerline is valid? [True, True] Translation: X:346.17, Y:93.79, Z:42.53 [[ 7.55783450e-01 -6.42560629e-01 -1.26123808e-01 3.46174461e+02] [ 6.33720171e-01 7.66234764e-01 -1.06221617e-01 9.37900811e+01] [ 1.64894275e-01 3.53339326e-04 9.86311185e-01 4.25335780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04864 meters Centerline goodness : 0.996338 with order 1 Centerline is valid? [True, True] Translation: X:346.22, Y:93.83, Z:42.54 [[ 7.56218230e-01 -6.42037473e-01 -1.26181899e-01 3.46223093e+02] [ 6.33201303e-01 7.66673165e-01 -1.06152566e-01 9.38293216e+01] [ 1.64894201e-01 3.75962566e-04 9.86311189e-01 4.25439954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10864 meters Centerline goodness : 0.995794 with order 1 Centerline is valid? [True, True] Translation: X:346.27, Y:93.87, Z:42.55 [[ 7.56575141e-01 -6.41605469e-01 -1.26239763e-01 3.46270622e+02] [ 6.32774817e-01 7.67034731e-01 -1.06083708e-01 9.38689996e+01] [ 1.64894170e-01 3.78953415e-04 9.86311193e-01 4.25547815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16864 meters Centerline goodness : 0.996385 with order 1 Centerline is valid? [True, True] Translation: X:346.32, Y:93.91, Z:42.57 [[ 7.57298100e-01 -6.40740496e-01 -1.26298080e-01 3.46318350e+02] [ 6.31909480e-01 7.67757377e-01 -1.06014235e-01 9.39093303e+01] [ 1.64893896e-01 4.75425010e-04 9.86311197e-01 4.25657238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.2286399999999 meters Centerline goodness : 0.995502 with order 1 Centerline is valid? [True, True] Translation: X:346.36, Y:93.95, Z:42.58 [[ 7.58438878e-01 -6.39378244e-01 -1.26356358e-01 3.46363310e+02] [ 6.30540019e-01 7.68892059e-01 -1.05944730e-01 9.39506714e+01] [ 1.64893156e-01 6.79862157e-04 9.86311201e-01 4.25772989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28863999999993 meters Centerline goodness : 0.996140 with order 1 Centerline is valid? [True, True] Translation: X:346.41, Y:93.99, Z:42.59 [[ 7.57505625e-01 -6.40473677e-01 -1.26406872e-01 3.46409280e+02] [ 6.31660629e-01 7.67980037e-01 -1.05884426e-01 9.39921178e+01] [ 1.64894142e-01 3.61804248e-04 9.86311204e-01 4.25872549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34863999999993 meters Centerline goodness : 0.996723 with order 1 Centerline is valid? [True, True] Translation: X:346.46, Y:94.03, Z:42.60 [[ 7.55783031e-01 -6.42494066e-01 -1.26464956e-01 3.46455806e+02] [ 6.33720631e-01 7.66290641e-01 -1.05815008e-01 9.40315271e+01] [ 1.64894427e-01 -1.70263564e-04 9.86311208e-01 4.25978556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40863999999993 meters Centerline goodness : 0.997117 with order 1 Centerline is valid? [True, True] Translation: X:346.50, Y:94.07, Z:42.61 [[ 7.53444804e-01 -6.45224680e-01 -1.26514980e-01 3.46503866e+02] [ 6.36499370e-01 7.63992406e-01 -1.05755165e-01 9.40710892e+01] [ 1.64892326e-01 -8.46025878e-04 9.86311211e-01 4.26076021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46863999999994 meters Centerline goodness : 0.996043 with order 1 Centerline is valid? [True, True] Translation: X:346.55, Y:94.11, Z:42.62 [[ 7.52472845e-01 -6.46346675e-01 -1.26572480e-01 3.46552389e+02] [ 6.37648672e-01 7.63042972e-01 -1.05686303e-01 9.41101867e+01] [ 1.64890232e-01 -1.18270103e-03 9.86311215e-01 4.26191854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52863999999994 meters Centerline goodness : 0.997653 with order 1 Centerline is valid? [True, True] Translation: X:346.60, Y:94.15, Z:42.63 [[ 7.52029760e-01 -6.46851111e-01 -1.26628905e-01 3.46603763e+02] [ 6.38171585e-01 7.62615059e-01 -1.05618655e-01 9.41458220e+01] [ 1.64888654e-01 -1.38259732e-03 9.86311219e-01 4.26294980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58863999999994 meters Centerline goodness : 0.998145 with order 1 Centerline is valid? [True, True] Translation: X:346.65, Y:94.18, Z:42.64 [[ 7.50395608e-01 -6.48735084e-01 -1.26685526e-01 3.46654906e+02] [ 6.40093599e-01 7.61011980e-01 -1.05550697e-01 9.41812058e+01] [ 1.64883643e-01 -1.88581505e-03 9.86311223e-01 4.26386209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64863999999994 meters Centerline goodness : 0.997898 with order 1 Centerline is valid? [True, True] Translation: X:346.71, Y:94.22, Z:42.65 [[ 7.50657427e-01 -6.48421100e-01 -1.26741878e-01 3.46705385e+02] [ 6.39786602e-01 7.61279478e-01 -1.05482989e-01 9.42181203e+01] [ 1.64883386e-01 -1.90616682e-03 9.86311226e-01 4.26490544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70863999999995 meters Centerline goodness : 0.997700 with order 1 Centerline is valid? [True, True] Translation: X:346.76, Y:94.25, Z:42.66 [[ 7.52059807e-01 -6.46783144e-01 -1.26797520e-01 3.46755236e+02] [ 6.38136790e-01 7.62672205e-01 -1.05416062e-01 9.42535587e+01] [ 1.64886276e-01 -1.63497956e-03 9.86311230e-01 4.26592021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76863999999995 meters Centerline goodness : 0.998535 with order 1 Centerline is valid? [True, True] Translation: X:346.81, Y:94.29, Z:42.67 [[ 7.53277445e-01 -6.45354992e-01 -1.26846464e-01 3.46806540e+02] [ 6.36698436e-01 7.63881519e-01 -1.05357136e-01 9.42892360e+01] [ 1.64888423e-01 -1.39979081e-03 9.86311233e-01 4.26702481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82863999999995 meters Centerline goodness : 0.998095 with order 1 Centerline is valid? [True, True] Translation: X:346.86, Y:94.32, Z:42.68 [[ 7.53350603e-01 -6.45258394e-01 -1.26903402e-01 3.46857766e+02] [ 6.36612035e-01 7.63962988e-01 -1.05288510e-01 9.43228982e+01] [ 1.64887797e-01 -1.46907077e-03 9.86311237e-01 4.26809722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88863999999995 meters Centerline goodness : 0.998192 with order 1 Centerline is valid? [True, True] Translation: X:346.91, Y:94.36, Z:42.69 [[ 7.51850620e-01 -6.46995777e-01 -1.26953178e-01 3.46910906e+02] [ 6.38384075e-01 7.62491144e-01 -1.05228459e-01 9.43555542e+01] [ 1.64883042e-01 -1.92880500e-03 9.86311240e-01 4.26914142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94863999999995 meters Centerline goodness : 0.997997 with order 1 Centerline is valid? [True, True] Translation: X:346.96, Y:94.39, Z:42.70 [[ 7.49800026e-01 -6.49360126e-01 -1.27009242e-01 3.46962564e+02] [ 6.40793436e-01 7.60476818e-01 -1.05160747e-01 9.43895971e+01] [ 1.64874780e-01 -2.53715809e-03 9.86311244e-01 4.27043975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00863999999996 meters Centerline goodness : 0.998046 with order 1 Centerline is valid? [True, True] Translation: X:347.01, Y:94.42, Z:42.71 [[ 7.49534018e-01 -6.49656234e-01 -1.27065080e-01 3.47014860e+02] [ 6.41105199e-01 7.60223346e-01 -1.05093236e-01 9.44205332e+01] [ 1.64872316e-01 -2.69112739e-03 9.86311248e-01 4.27129656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06863999999996 meters Centerline goodness : 0.997359 with order 1 Centerline is valid? [True, True] Translation: X:347.06, Y:94.45, Z:42.72 [[ 7.51750477e-01 -6.47090169e-01 -1.27065080e-01 3.47064808e+02] [ 6.38502642e-01 7.62410511e-01 -1.05093236e-01 9.44504398e+01] [ 1.64880552e-01 -2.12749856e-03 9.86311248e-01 4.27248216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12863999999996 meters Centerline goodness : 0.997994 with order 1 Centerline is valid? [True, True] Translation: X:347.11, Y:94.48, Z:42.74 [[ 7.55251458e-01 -6.43003310e-01 -1.27051087e-01 3.47114293e+02] [ 6.34355247e-01 7.65862440e-01 -1.05110150e-01 9.44815000e+01] [ 1.64889830e-01 -1.21092952e-03 9.86311248e-01 4.27362794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18863999999996 meters Centerline goodness : 0.997405 with order 1 Centerline is valid? [True, True] Translation: X:347.16, Y:94.52, Z:42.75 [[ 7.59461539e-01 -6.38028075e-01 -1.27036791e-01 3.47160618e+02] [ 6.29307603e-01 7.70013094e-01 -1.05127425e-01 9.45161778e+01] [ 1.64894241e-01 -1.04982771e-04 9.86311248e-01 4.27457552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24863999999997 meters Centerline goodness : 0.997215 with order 1 Centerline is valid? [True, True] Translation: X:347.21, Y:94.55, Z:42.76 [[ 7.61542896e-01 -6.35545246e-01 -1.27022273e-01 3.47206307e+02] [ 6.26787448e-01 7.72063489e-01 -1.05144964e-01 9.45521102e+01] [ 1.64893642e-01 4.56434113e-04 9.86311248e-01 4.27567678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30863999999997 meters Centerline goodness : 0.997011 with order 1 Centerline is valid? [True, True] Translation: X:347.25, Y:94.59, Z:42.77 [[ 7.62663931e-01 -6.34202495e-01 -1.27007573e-01 3.47249893e+02] [ 6.25423218e-01 7.73166606e-01 -1.05162718e-01 9.45895776e+01] [ 1.64892472e-01 7.70326910e-04 9.86311249e-01 4.27672242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36863999999997 meters Centerline goodness : 0.997163 with order 1 Centerline is valid? [True, True] Translation: X:347.29, Y:94.63, Z:42.78 [[ 7.64419876e-01 -6.32087863e-01 -1.26992858e-01 3.47292737e+02] [ 6.23276581e-01 7.74895715e-01 -1.05180484e-01 9.46288606e+01] [ 1.64889529e-01 1.25037818e-03 9.86311249e-01 4.27789584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42864 meters Centerline goodness : 0.997167 with order 1 Centerline is valid? [True, True] Translation: X:347.33, Y:94.67, Z:42.79 [[ 7.66714159e-01 -6.29305954e-01 -1.26978009e-01 3.47334434e+02] [ 6.20453695e-01 7.77155395e-01 -1.05198408e-01 9.46689401e+01] [ 1.64883629e-01 1.87313419e-03 9.86311249e-01 4.27893638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48864 meters Centerline goodness : 0.997216 with order 1 Centerline is valid? [True, True] Translation: X:347.38, Y:94.71, Z:42.80 [[ 7.66508938e-01 -6.29558856e-01 -1.26963364e-01 3.47375795e+02] [ 6.20707115e-01 7.76950612e-01 -1.05216081e-01 9.47076370e+01] [ 1.64883978e-01 1.84200299e-03 9.86311249e-01 4.28006383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54864 meters Centerline goodness : 0.997166 with order 1 Centerline is valid? [True, True] Translation: X:347.42, Y:94.75, Z:42.81 [[ 7.65226818e-01 -6.31121109e-01 -1.26941178e-01 3.47418964e+02] [ 6.22286247e-01 7.75682778e-01 -1.05242841e-01 9.47471694e+01] [ 1.64887064e-01 1.54089488e-03 9.86311250e-01 4.28104946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60864 meters Centerline goodness : 0.997408 with order 1 Centerline is valid? [True, True] Translation: X:347.46, Y:94.79, Z:42.82 [[ 7.64503592e-01 -6.31999966e-01 -1.26926362e-01 3.47460565e+02] [ 6.23174158e-01 7.74967195e-01 -1.05260706e-01 9.47883706e+01] [ 1.64888529e-01 1.37495915e-03 9.86311250e-01 4.28200447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66864 meters Centerline goodness : 0.998139 with order 1 Centerline is valid? [True, True] Translation: X:347.50, Y:94.83, Z:42.83 [[ 7.64282868e-01 -6.32269814e-01 -1.26911699e-01 3.47503726e+02] [ 6.23444766e-01 7.74747111e-01 -1.05278382e-01 9.48254220e+01] [ 1.64888815e-01 1.34002941e-03 9.86311251e-01 4.28304338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.7286399999999 meters Centerline goodness : 0.998533 with order 1 Centerline is valid? [True, True] Translation: X:347.55, Y:94.86, Z:42.84 [[ 7.65176122e-01 -6.31192940e-01 -1.26889617e-01 3.47548123e+02] [ 6.22348753e-01 7.75624193e-01 -1.05304990e-01 9.48629012e+01] [ 1.64886423e-01 1.60726922e-03 9.86311251e-01 4.28387434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78863999999993 meters Centerline goodness : 0.998729 with order 1 Centerline is valid? [True, True] Translation: X:347.59, Y:94.90, Z:42.85 [[ 7.66238757e-01 -6.29905489e-01 -1.26874907e-01 3.47591919e+02] [ 6.21040813e-01 7.76669450e-01 -1.05322711e-01 9.49009745e+01] [ 1.64883218e-01 1.90784827e-03 9.86311251e-01 4.28480110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84863999999993 meters Centerline goodness : 0.999215 with order 1 Centerline is valid? [True, True] Translation: X:347.63, Y:94.94, Z:42.86 [[ 7.66778076e-01 -6.29251833e-01 -1.26860208e-01 3.47634778e+02] [ 6.20375338e-01 7.77198712e-01 -1.05340412e-01 9.49405377e+01] [ 1.64881238e-01 2.07177401e-03 9.86311252e-01 4.28580990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90863999999993 meters Centerline goodness : 0.998388 with order 1 Centerline is valid? [True, True] Translation: X:347.68, Y:94.98, Z:42.87 [[ 7.69304372e-01 -6.26163725e-01 -1.26845469e-01 3.47678273e+02] [ 6.17242477e-01 7.79686721e-01 -1.05358158e-01 9.49772688e+01] [ 1.64871184e-01 2.75807998e-03 9.86311252e-01 4.28680494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96863999999994 meters Centerline goodness : 0.998583 with order 1 Centerline is valid? [True, True] Translation: X:347.72, Y:95.02, Z:42.88 [[ 7.70760207e-01 -6.24375278e-01 -1.26823565e-01 3.47721245e+02] [ 6.15425606e-01 7.81118063e-01 -1.05384517e-01 9.50161364e+01] [ 1.64863665e-01 3.17572278e-03 9.86311252e-01 4.28763790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02863999999994 meters Centerline goodness : 0.997358 with order 1 Centerline is valid? [True, True] Translation: X:347.76, Y:95.06, Z:42.89 [[ 7.74338314e-01 -6.19936718e-01 -1.26801577e-01 3.47762547e+02] [ 6.10923358e-01 7.84640796e-01 -1.05410968e-01 9.50568949e+01] [ 1.64841820e-01 4.15770583e-03 9.86311253e-01 4.28873697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08863999999994 meters Centerline goodness : 0.995208 with order 1 Centerline is valid? [True, True] Translation: X:347.80, Y:95.10, Z:42.90 [[ 7.77136633e-01 -6.16428181e-01 -1.26787031e-01 3.47802388e+02] [ 6.07365467e-01 7.87395726e-01 -1.05428460e-01 9.51002705e+01] [ 1.64820641e-01 4.92625428e-03 9.86311253e-01 4.28973056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14863999999994 meters Centerline goodness : 0.994089 with order 1 Centerline is valid? [True, True] Translation: X:347.84, Y:95.14, Z:42.91 [[ 7.78842772e-01 -6.14274057e-01 -1.26772707e-01 3.47841238e+02] [ 6.05180173e-01 7.89074246e-01 -1.05445683e-01 9.51437509e+01] [ 1.64805625e-01 5.40527922e-03 9.86311254e-01 4.29073246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20863999999995 meters Centerline goodness : 0.993288 with order 1 Centerline is valid? [True, True] Translation: X:347.88, Y:95.19, Z:42.92 [[ 7.78671340e-01 -6.14494262e-01 -1.26758610e-01 3.47880939e+02] [ 6.05400519e-01 7.88902938e-01 -1.05462626e-01 9.51890712e+01] [ 1.64806418e-01 5.38099619e-03 9.86311254e-01 4.29183468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26863999999995 meters Centerline goodness : 0.991991 with order 1 Centerline is valid? [True, True] Translation: X:347.93, Y:95.23, Z:42.93 [[ 7.77549085e-01 -6.15913692e-01 -1.26758610e-01 3.47925680e+02] [ 6.06838628e-01 7.87797254e-01 -1.05462626e-01 9.52316853e+01] [ 1.64815960e-01 5.08034743e-03 9.86311254e-01 4.29286541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32863999999995 meters Centerline goodness : 0.992235 with order 1 Centerline is valid? [True, True] Translation: X:347.97, Y:95.27, Z:42.94 [[ 7.74208447e-01 -6.20097547e-01 -1.26808174e-01 3.47969989e+02] [ 6.11087631e-01 7.84513936e-01 -1.05402997e-01 9.52745517e+01] [ 1.64842920e-01 4.11298448e-03 9.86311257e-01 4.29378311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38863999999995 meters Centerline goodness : 0.991790 with order 1 Centerline is valid? [True, True] Translation: X:348.02, Y:95.32, Z:42.95 [[ 7.70019183e-01 -6.25281880e-01 -1.26858301e-01 3.48016478e+02] [ 6.16351299e-01 7.80393494e-01 -1.05342633e-01 9.53154789e+01] [ 1.64868232e-01 2.92656984e-03 9.86311260e-01 4.29470795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44863999999995 meters Centerline goodness : 0.991882 with order 1 Centerline is valid? [True, True] Translation: X:348.06, Y:95.36, Z:42.96 [[ 7.67525010e-01 -6.28329205e-01 -1.26916387e-01 3.48063287e+02] [ 6.19451389e-01 7.77944506e-01 -1.05272605e-01 9.53554787e+01] [ 1.64879758e-01 2.18082535e-03 9.86311264e-01 4.29579996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50863999999996 meters Centerline goodness : 0.991547 with order 1 Centerline is valid? [True, True] Translation: X:348.11, Y:95.40, Z:42.97 [[ 7.66449884e-01 -6.29629960e-01 -1.26967277e-01 3.48109699e+02] [ 6.20779997e-01 7.76893043e-01 -1.05211192e-01 9.53959657e+01] [ 1.64884113e-01 1.82035998e-03 9.86311267e-01 4.29671656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56863999999996 meters Centerline goodness : 0.991544 with order 1 Centerline is valid? [True, True] Translation: X:348.16, Y:95.44, Z:42.98 [[ 7.65422600e-01 -6.30868151e-01 -1.27018182e-01 3.48155952e+02] [ 6.22045283e-01 7.75888656e-01 -1.05149702e-01 9.54371239e+01] [ 1.64887564e-01 1.47289695e-03 9.86311270e-01 4.29776597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62863999999996 meters Centerline goodness : 0.991681 with order 1 Centerline is valid? [True, True] Translation: X:348.20, Y:95.48, Z:42.99 [[ 7.65791667e-01 -6.30408442e-01 -1.27076039e-01 3.48202817e+02] [ 6.21590897e-01 7.76262202e-01 -1.05079735e-01 9.54778621e+01] [ 1.64887478e-01 1.47987594e-03 9.86311274e-01 4.29884019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68863999999996 meters Centerline goodness : 0.991417 with order 1 Centerline is valid? [True, True] Translation: X:348.25, Y:95.52, Z:43.00 [[ 7.66724247e-01 -6.29262237e-01 -1.27133654e-01 3.48248122e+02] [ 6.20440601e-01 7.77191331e-01 -1.05009983e-01 9.55199710e+01] [ 1.64885990e-01 1.63481936e-03 9.86311278e-01 4.29980124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74863999999997 meters Centerline goodness : 0.991171 with order 1 Centerline is valid? [True, True] Translation: X:348.29, Y:95.56, Z:43.01 [[ 7.68187537e-01 -6.27464880e-01 -1.27183851e-01 3.48292376e+02] [ 6.18628822e-01 7.78642444e-01 -1.04949152e-01 9.55630852e+01] [ 1.64882651e-01 1.94103472e-03 9.86311281e-01 4.30081096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80863999999997 meters Centerline goodness : 0.991358 with order 1 Centerline is valid? [True, True] Translation: X:348.34, Y:95.60, Z:43.02 [[ 7.68652189e-01 -6.26885479e-01 -1.27233677e-01 3.48339561e+02] [ 6.18051540e-01 7.79108883e-01 -1.04888711e-01 9.56037337e+01] [ 1.64882098e-01 1.98596730e-03 9.86311284e-01 4.30160919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86863999999997 meters Centerline goodness : 0.991228 with order 1 Centerline is valid? [True, True] Translation: X:348.39, Y:95.64, Z:43.03 [[ 7.69147774e-01 -6.26273709e-01 -1.27251491e-01 3.48385950e+02] [ 6.17435028e-01 7.79600461e-01 -1.04867095e-01 9.56434935e+01] [ 1.64880826e-01 2.08876425e-03 9.86311285e-01 4.30257681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92864 meters Centerline goodness : 0.990929 with order 1 Centerline is valid? [True, True] Translation: X:348.43, Y:95.68, Z:43.04 [[ 7.70329118e-01 -6.24809888e-01 -1.27301428e-01 3.48432795e+02] [ 6.15961363e-01 7.80773468e-01 -1.04806441e-01 9.56837776e+01] [ 1.64877678e-01 2.32269248e-03 9.86311288e-01 4.30372546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98864 meters Centerline goodness : 0.991603 with order 1 Centerline is valid? [True, True] Translation: X:348.48, Y:95.72, Z:43.05 [[ 7.71214491e-01 -6.23705129e-01 -1.27358239e-01 3.48481144e+02] [ 6.14853044e-01 7.81655819e-01 -1.04737361e-01 9.57227974e+01] [ 1.64875538e-01 2.46836939e-03 9.86311292e-01 4.30474850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04864 meters Centerline goodness : 0.991365 with order 1 Centerline is valid? [True, True] Translation: X:348.53, Y:95.76, Z:43.06 [[ 7.71457121e-01 -6.23393286e-01 -1.27415545e-01 3.48530321e+02] [ 6.14548495e-01 7.81904624e-01 -1.04667602e-01 9.57613855e+01] [ 1.64875884e-01 2.44353534e-03 9.86311296e-01 4.30573406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10864 meters Centerline goodness : 0.992104 with order 1 Centerline is valid? [True, True] Translation: X:348.58, Y:95.80, Z:43.07 [[ 7.72148723e-01 -6.22524615e-01 -1.27473341e-01 3.48579777e+02] [ 6.13679692e-01 7.82596108e-01 -1.04597166e-01 9.57997965e+01] [ 1.64874451e-01 2.53676815e-03 9.86311300e-01 4.30680724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16864 meters Centerline goodness : 0.992334 with order 1 Centerline is valid? [True, True] Translation: X:348.63, Y:95.84, Z:43.08 [[ 7.72880319e-01 -6.21604241e-01 -1.27531097e-01 3.48628114e+02] [ 6.12758497e-01 7.83327003e-01 -1.04526699e-01 9.58367520e+01] [ 1.64872792e-01 2.64086518e-03 9.86311304e-01 4.30789710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.2286399999999 meters Centerline goodness : 0.994300 with order 1 Centerline is valid? [True, True] Translation: X:348.68, Y:95.87, Z:43.09 [[ 7.76606423e-01 -6.16932319e-01 -1.27581257e-01 3.48678171e+02] [ 6.08033794e-01 7.87008181e-01 -1.04465441e-01 9.58741508e+01] [ 1.64855600e-01 3.55481697e-03 9.86311307e-01 4.30887612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28863999999993 meters Centerline goodness : 0.996049 with order 1 Centerline is valid? [True, True] Translation: X:348.73, Y:95.91, Z:43.10 [[ 7.79176210e-01 -6.13671594e-01 -1.27638589e-01 3.48726197e+02] [ 6.04741013e-01 7.89550453e-01 -1.04395346e-01 9.59125132e+01] [ 1.64841564e-01 4.15408081e-03 9.86311311e-01 4.30980443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34863999999993 meters Centerline goodness : 0.998244 with order 1 Centerline is valid? [True, True] Translation: X:348.77, Y:95.95, Z:43.11 [[ 7.82426669e-01 -6.09511492e-01 -1.27688088e-01 3.48773385e+02] [ 6.00535634e-01 7.92761760e-01 -1.04334768e-01 9.59533215e+01] [ 1.64819474e-01 4.95305784e-03 9.86311314e-01 4.31082692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40863999999993 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:348.82, Y:95.99, Z:43.12 [[ 7.82693422e-01 -6.09157015e-01 -1.27744815e-01 3.48821321e+02] [ 6.00187801e-01 7.93034273e-01 -1.04265268e-01 9.59924561e+01] [ 1.64819936e-01 4.93685973e-03 9.86311318e-01 4.31181601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:348.87, Y:96.03, Z:43.13 [[ 7.83004359e-01 -6.08753588e-01 -1.27762447e-01 3.48870179e+02] [ 5.99782565e-01 7.93343642e-01 -1.04243658e-01 9.60292244e+01] [ 1.64818226e-01 4.99355059e-03 9.86311318e-01 4.31287800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.92, Y:96.07, Z:43.14 [[ 7.83490155e-01 -6.08117764e-01 -1.27812214e-01 3.48917541e+02] [ 5.99148293e-01 7.93830780e-01 -1.04182605e-01 9.60690632e+01] [ 1.64816562e-01 5.04757555e-03 9.86311322e-01 4.31380684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:348.97, Y:96.11, Z:43.15 [[ 7.82544354e-01 -6.09322500e-01 -1.27868778e-01 3.48965190e+02] [ 6.00380284e-01 7.92908551e-01 -1.04113135e-01 9.61076531e+01] [ 1.64826723e-01 4.70325252e-03 9.86311325e-01 4.31471932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64863999999994 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:349.01, Y:96.15, Z:43.16 [[ 7.81261194e-01 -6.10956598e-01 -1.27917873e-01 3.49013938e+02] [ 6.02045930e-01 7.91652523e-01 -1.04052781e-01 9.61460282e+01] [ 1.64838240e-01 4.27996544e-03 9.86311328e-01 4.31560067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:349.06, Y:96.19, Z:43.17 [[ 7.79495101e-01 -6.13196477e-01 -1.27974485e-01 3.49060424e+02] [ 6.04327097e-01 7.89921688e-01 -1.03983108e-01 9.61856999e+01] [ 1.64851897e-01 3.71587430e-03 9.86311332e-01 4.31668243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76863999999995 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:349.11, Y:96.23, Z:43.18 [[ 7.78426663e-01 -6.14541851e-01 -1.28024383e-01 3.49107654e+02] [ 6.05700594e-01 7.88877103e-01 -1.03921637e-01 9.62255894e+01] [ 1.64859700e-01 3.35092820e-03 9.86311336e-01 4.31762085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82863999999995 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:349.15, Y:96.27, Z:43.19 [[ 7.76890518e-01 -6.16472359e-01 -1.28074017e-01 3.49154680e+02] [ 6.07667153e-01 7.87371349e-01 -1.03860433e-01 9.62663816e+01] [ 1.64868898e-01 2.86181182e-03 9.86311339e-01 4.31863236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88863999999995 meters Centerline goodness : 0.998682 with order 1 Centerline is valid? [True, True] Translation: X:349.20, Y:96.31, Z:43.20 [[ 7.76392415e-01 -6.17087657e-01 -1.28131340e-01 3.49200575e+02] [ 6.08302429e-01 7.86889992e-01 -1.03789668e-01 9.63089207e+01] [ 1.64872592e-01 2.63890545e-03 9.86311343e-01 4.31968519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94863999999995 meters Centerline goodness : 0.998585 with order 1 Centerline is valid? [True, True] Translation: X:349.25, Y:96.35, Z:43.21 [[ 7.76001029e-01 -6.17568014e-01 -1.28187954e-01 3.49246969e+02] [ 6.08800835e-01 7.86513679e-01 -1.03719699e-01 9.63497184e+01] [ 1.64875548e-01 2.44565967e-03 9.86311347e-01 4.32075547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00863999999996 meters Centerline goodness : 0.990718 with order 1 Centerline is valid? [True, True] Translation: X:349.29, Y:96.39, Z:43.24 [[ 7.73842343e-01 -6.20267124e-01 -1.28205784e-01 3.49289495e+02] [ 6.11540266e-01 7.84388488e-01 -1.03697655e-01 9.63871923e+01] [ 1.64883387e-01 1.84263747e-03 9.86311347e-01 4.32391649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06863999999996 meters Centerline goodness : 0.994234 with order 1 Centerline is valid? [True, True] Translation: X:349.34, Y:96.43, Z:43.24 [[ 7.71132301e-01 -6.23631638e-01 -1.28212926e-01 3.49337874e+02] [ 6.14952264e-01 7.81717558e-01 -1.03688824e-01 9.64253649e+01] [ 1.64889926e-01 1.11297201e-03 9.86311347e-01 4.32411829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12863999999996 meters Centerline goodness : 0.998391 with order 1 Centerline is valid? [True, True] Translation: X:349.39, Y:96.46, Z:43.24 [[ 7.68467338e-01 -6.26911856e-01 -1.28216517e-01 3.49388871e+02] [ 6.18278407e-01 7.79090085e-01 -1.03684383e-01 9.64643928e+01] [ 1.64893186e-01 4.04557604e-04 9.86311347e-01 4.32365442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18863999999996 meters Centerline goodness : 0.997801 with order 1 Centerline is valid? [True, True] Translation: X:349.44, Y:96.50, Z:43.25 [[ 7.66450018e-01 -6.29366621e-01 -1.28265450e-01 3.49437649e+02] [ 6.20777327e-01 7.77108497e-01 -1.03623814e-01 9.65014962e+01] [ 1.64893541e-01 -2.01809181e-04 9.86311350e-01 4.32470063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24863999999997 meters Centerline goodness : 0.997852 with order 1 Centerline is valid? [True, True] Translation: X:349.49, Y:96.54, Z:43.26 [[ 7.66444696e-01 -6.29363040e-01 -1.28314815e-01 3.49485902e+02] [ 6.20783933e-01 7.77111373e-01 -1.03562652e-01 9.65408081e+01] [ 1.64893407e-01 -2.80730197e-04 9.86311353e-01 4.32570554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30863999999997 meters Centerline goodness : 0.996925 with order 1 Centerline is valid? [True, True] Translation: X:349.54, Y:96.58, Z:43.27 [[ 7.65236036e-01 -6.30820678e-01 -1.28370873e-01 3.49535662e+02] [ 6.22273550e-01 7.75928349e-01 -1.03493119e-01 9.65791242e+01] [ 1.64892199e-01 -6.85134445e-04 9.86311357e-01 4.32666609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36863999999997 meters Centerline goodness : 0.996487 with order 1 Centerline is valid? [True, True] Translation: X:349.59, Y:96.62, Z:43.28 [[ 7.63534478e-01 -6.32867780e-01 -1.28426920e-01 3.49585066e+02] [ 6.24361020e-01 7.74258930e-01 -1.03423524e-01 9.66165080e+01] [ 1.64889106e-01 -1.21733582e-03 9.86311361e-01 4.32779818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42864 meters Centerline goodness : 0.996290 with order 1 Centerline is valid? [True, True] Translation: X:349.63, Y:96.65, Z:43.29 [[ 7.60248082e-01 -6.36800603e-01 -1.28482864e-01 3.49634935e+02] [ 6.28361062e-01 7.71025506e-01 -1.03353979e-01 9.66537793e+01] [ 1.64879441e-01 -2.15896441e-03 9.86311365e-01 4.32877323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48864 meters Centerline goodness : 0.995562 with order 1 Centerline is valid? [True, True] Translation: X:349.69, Y:96.69, Z:43.30 [[ 7.60880200e-01 -6.36034113e-01 -1.28537654e-01 3.49685996e+02] [ 6.27595228e-01 7.71658133e-01 -1.03285795e-01 9.66896468e+01] [ 1.64880415e-01 -2.08150206e-03 9.86311369e-01 4.32985846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54864 meters Centerline goodness : 0.995705 with order 1 Centerline is valid? [True, True] Translation: X:349.74, Y:96.73, Z:43.31 [[ 7.64031995e-01 -6.32233528e-01 -1.28591902e-01 3.49736095e+02] [ 6.23752395e-01 7.74776710e-01 -1.03218211e-01 9.67273200e+01] [ 1.64888025e-01 -1.34749121e-03 9.86311372e-01 4.33082138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60864 meters Centerline goodness : 0.995607 with order 1 Centerline is valid? [True, True] Translation: X:349.79, Y:96.76, Z:43.32 [[ 7.69668567e-01 -6.25348114e-01 -1.28646932e-01 3.49785962e+02] [ 6.16782320e-01 7.80345907e-01 -1.03149580e-01 9.67639812e+01] [ 1.64893502e-01 4.38360896e-05 9.86311376e-01 4.33189080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66864 meters Centerline goodness : 0.995902 with order 1 Centerline is valid? [True, True] Translation: X:349.84, Y:96.80, Z:43.33 [[ 7.72850018e-01 -6.21400405e-01 -1.28702702e-01 3.49835348e+02] [ 6.12791664e-01 7.83492757e-01 -1.03079948e-01 9.68021378e+01] [ 1.64891557e-01 7.97396751e-04 9.86311380e-01 4.33294823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.7286399999999 meters Centerline goodness : 0.996443 with order 1 Centerline is valid? [True, True] Translation: X:349.88, Y:96.84, Z:43.34 [[ 7.76918065e-01 -6.16294898e-01 -1.28759153e-01 3.49881236e+02] [ 6.07627912e-01 7.87513420e-01 -1.03009387e-01 9.68445950e+01] [ 1.64883721e-01 1.79219819e-03 9.86311384e-01 4.33391586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78863999999993 meters Centerline goodness : 0.996098 with order 1 Centerline is valid? [True, True] Translation: X:349.93, Y:96.89, Z:43.35 [[ 7.79196092e-01 -6.13400436e-01 -1.28815197e-01 3.49927033e+02] [ 6.04705682e-01 7.89768668e-01 -1.02939256e-01 9.68856961e+01] [ 1.64877191e-01 2.31458441e-03 9.86311388e-01 4.33515568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84863999999993 meters Centerline goodness : 0.995511 with order 1 Centerline is valid? [True, True] Translation: X:349.97, Y:96.93, Z:43.36 [[ 7.82271398e-01 -6.09461799e-01 -1.28871158e-01 3.49969927e+02] [ 6.00725360e-01 7.92809548e-01 -1.02869152e-01 9.69307111e+01] [ 1.64865103e-01 3.05542243e-03 9.86311392e-01 4.33606701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90863999999993 meters Centerline goodness : 0.995369 with order 1 Centerline is valid? [True, True] Translation: X:350.01, Y:96.98, Z:43.37 [[ 7.84578570e-01 -6.06478439e-01 -1.28920017e-01 3.50013551e+02] [ 5.97711990e-01 7.95091765e-01 -1.02807884e-01 9.69753981e+01] [ 1.64854009e-01 3.60382301e-03 9.86311395e-01 4.33708109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96863999999994 meters Centerline goodness : 0.995216 with order 1 Centerline is valid? [True, True] Translation: X:350.06, Y:97.02, Z:43.38 [[ 7.83950640e-01 -6.07277988e-01 -1.28976121e-01 3.50057746e+02] [ 5.98533839e-01 7.94482385e-01 -1.02737452e-01 9.70186829e+01] [ 1.64859449e-01 3.34451863e-03 9.86311399e-01 4.33817534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02863999999994 meters Centerline goodness : 0.995847 with order 1 Centerline is valid? [True, True] Translation: X:350.10, Y:97.06, Z:43.39 [[ 7.76879692e-01 -6.16287658e-01 -1.29025063e-01 3.50101523e+02] [ 6.07675884e-01 7.87519949e-01 -1.02675951e-01 9.70642422e+01] [ 1.64887732e-01 1.36144239e-03 9.86311402e-01 4.33924267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08863999999994 meters Centerline goodness : 0.996135 with order 1 Centerline is valid? [True, True] Translation: X:350.15, Y:97.11, Z:43.40 [[ 7.72416710e-01 -6.21860305e-01 -1.29082094e-01 3.50147259e+02] [ 6.13337283e-01 7.83128185e-01 -1.02604203e-01 9.71064380e+01] [ 1.64893307e-01 8.23402308e-05 9.86311406e-01 4.34015098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14863999999994 meters Centerline goodness : 0.997120 with order 1 Centerline is valid? [True, True] Translation: X:350.20, Y:97.14, Z:43.41 [[ 7.65164743e-01 -6.30750496e-01 -1.29138403e-01 3.50197110e+02] [ 6.22363870e-01 7.75983337e-01 -1.02533285e-01 9.71434409e+01] [ 1.64882169e-01 -1.91622177e-03 9.86311410e-01 4.34114864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20863999999995 meters Centerline goodness : 0.997365 with order 1 Centerline is valid? [True, True] Translation: X:350.25, Y:97.18, Z:43.42 [[ 7.58949304e-01 -6.38204551e-01 -1.29193281e-01 3.50245948e+02] [ 6.29935911e-01 7.69858336e-01 -1.02464093e-01 9.71813821e+01] [ 1.64853574e-01 -3.61843502e-03 9.86311414e-01 4.34217015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26863999999995 meters Centerline goodness : 0.998538 with order 1 Centerline is valid? [True, True] Translation: X:350.30, Y:97.22, Z:43.43 [[ 7.56093659e-01 -6.41574427e-01 -1.29246405e-01 3.50297056e+02] [ 6.33365843e-01 7.67047948e-01 -1.02397040e-01 9.72168172e+01] [ 1.64833512e-01 -4.43850545e-03 9.86311418e-01 4.34305860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32863999999995 meters Centerline goodness : 0.998586 with order 1 Centerline is valid? [True, True] Translation: X:350.35, Y:97.25, Z:43.44 [[ 7.56050697e-01 -6.41621741e-01 -1.29262853e-01 3.50347247e+02] [ 6.33417389e-01 7.67008155e-01 -1.02376272e-01 9.72530171e+01] [ 1.64832504e-01 -4.47568717e-03 9.86311418e-01 4.34411198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38863999999995 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:350.40, Y:97.29, Z:43.45 [[ 7.55109495e-01 -6.42718736e-01 -1.29314644e-01 3.50399249e+02] [ 6.34541494e-01 7.66087195e-01 -1.02310812e-01 9.72869515e+01] [ 1.64823369e-01 -4.79964155e-03 9.86311422e-01 4.34497839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44863999999995 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:350.45, Y:97.32, Z:43.46 [[ 7.53585033e-01 -6.44496411e-01 -1.29359866e-01 3.50450448e+02] [ 6.36354864e-01 7.64589228e-01 -1.02253604e-01 9.73214458e+01] [ 1.64809240e-01 -5.26199427e-03 9.86311424e-01 4.34603967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50863999999996 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:350.50, Y:97.35, Z:43.47 [[ 7.53001781e-01 -6.45168733e-01 -1.29404883e-01 3.50504839e+02] [ 6.37046787e-01 7.64020449e-01 -1.02196602e-01 9.73536223e+01] [ 1.64802029e-01 -5.48274189e-03 9.86311427e-01 4.34694753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56863999999996 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:350.56, Y:97.38, Z:43.48 [[ 7.55936613e-01 -6.41717214e-01 -1.29455996e-01 3.50559387e+02] [ 6.33556023e-01 7.66926240e-01 -1.02131815e-01 9.73841509e+01] [ 1.64822944e-01 -4.81244832e-03 9.86311430e-01 4.34800351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62863999999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:350.61, Y:97.42, Z:43.49 [[ 7.58248384e-01 -6.38974848e-01 -1.29501085e-01 3.50614105e+02] [ 6.30783662e-01 7.69215669e-01 -1.02074612e-01 9.74152723e+01] [ 1.64837373e-01 -4.28925878e-03 9.86311433e-01 4.34888316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:350.67, Y:97.44, Z:43.50 [[ 7.62417330e-01 -6.33984073e-01 -1.29553117e-01 3.50669441e+02] [ 6.25732295e-01 7.73339094e-01 -1.02008530e-01 9.74447686e+01] [ 1.64860274e-01 -3.29249820e-03 9.86311436e-01 4.34983640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:350.72, Y:97.48, Z:43.51 [[ 7.68996021e-01 -6.25978600e-01 -1.29599043e-01 3.50720885e+02] [ 6.17622925e-01 7.79838502e-01 -1.01950151e-01 9.74782793e+01] [ 1.64884936e-01 -1.64407906e-03 9.86311439e-01 4.35094932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80863999999997 meters Centerline goodness : 0.998586 with order 1 Centerline is valid? [True, True] Translation: X:350.77, Y:97.51, Z:43.53 [[ 7.75059554e-01 -6.18445346e-01 -1.29645829e-01 3.50769697e+02] [ 6.09994230e-01 7.85827806e-01 -1.01890620e-01 9.75102552e+01] [ 1.64893078e-01 -1.11909171e-04 9.86311442e-01 4.35343003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86863999999997 meters Centerline goodness : 0.998633 with order 1 Centerline is valid? [True, True] Translation: X:350.82, Y:97.55, Z:43.54 [[ 7.77947170e-01 -6.14807602e-01 -1.29652664e-01 3.50816155e+02] [ 6.06307581e-01 7.88676861e-01 -1.01881923e-01 9.75452191e+01] [ 1.64891837e-01 6.49360473e-04 9.86311442e-01 4.35428775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92864 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:350.87, Y:97.58, Z:43.54 [[ 7.78921774e-01 -6.13575346e-01 -1.29638594e-01 3.50865267e+02] [ 6.05055372e-01 7.89635627e-01 -1.01899823e-01 9.75809875e+01] [ 1.64890472e-01 9.33463574e-04 9.86311442e-01 4.35359830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98864 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:350.91, Y:97.62, Z:43.55 [[ 7.78863606e-01 -6.13652151e-01 -1.29624540e-01 3.50910678e+02] [ 6.05130258e-01 7.89575933e-01 -1.01917698e-01 9.76171447e+01] [ 1.64890431e-01 9.40254190e-04 9.86311442e-01 4.35457336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04864 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:350.96, Y:97.65, Z:43.55 [[ 7.79085320e-01 -6.13373600e-01 -1.29610535e-01 3.50958483e+02] [ 6.04844915e-01 7.89792239e-01 -1.01935505e-01 9.76506949e+01] [ 1.64889942e-01 1.02218252e-03 9.86311443e-01 4.35547284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10864 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:351.01, Y:97.69, Z:43.56 [[ 7.78474382e-01 -6.14151757e-01 -1.29596516e-01 3.51005365e+02] [ 6.05630807e-01 7.89187459e-01 -1.01953325e-01 9.76850708e+01] [ 1.64890759e-01 8.80408602e-04 9.86311443e-01 4.35645738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.1686399999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:351.05, Y:97.72, Z:43.57 [[ 7.76719143e-01 -6.16373065e-01 -1.29582473e-01 3.51053936e+02] [ 6.07879776e-01 7.87454162e-01 -1.01971171e-01 9.77170571e+01] [ 1.64892541e-01 4.32396031e-04 9.86311443e-01 4.35735819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.2286399999999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:351.10, Y:97.75, Z:43.58 [[ 7.75773034e-01 -6.17566374e-01 -1.29568413e-01 3.51101528e+02] [ 6.09086615e-01 7.86518743e-01 -1.01989033e-01 9.77512138e+01] [ 1.64892982e-01 2.01955623e-04 9.86311443e-01 4.35832154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28863999999993 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:351.15, Y:97.78, Z:43.59 [[ 7.75412378e-01 -6.18022109e-01 -1.29554302e-01 3.51151225e+02] [ 6.09545671e-01 7.86160706e-01 -1.02006954e-01 9.77824190e+01] [ 1.64893055e-01 1.28190661e-04 9.86311444e-01 4.35926668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34863999999993 meters Centerline goodness : 0.996047 with order 1 Centerline is valid? [True, True] Translation: X:351.20, Y:97.81, Z:43.62 [[ 7.75860103e-01 -6.17462895e-01 -1.29540240e-01 3.51196194e+02] [ 6.08975728e-01 7.86599962e-01 -1.02024809e-01 9.78147605e+01] [ 1.64892882e-01 2.70116589e-04 9.86311444e-01 4.36217691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40863999999993 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:351.25, Y:97.85, Z:43.61 [[ 7.75695118e-01 -6.17672349e-01 -1.29529739e-01 3.51245263e+02] [ 6.09185857e-01 7.86435509e-01 -1.02038139e-01 9.78508369e+01] [ 1.64892923e-01 2.42801700e-04 9.86311444e-01 4.36133355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46863999999994 meters Centerline goodness : 0.995948 with order 1 Centerline is valid? [True, True] Translation: X:351.29, Y:97.88, Z:43.64 [[ 7.76936340e-01 -6.16120893e-01 -1.29479605e-01 3.51288261e+02] [ 6.07602356e-01 7.87651329e-01 -1.02101717e-01 9.78845342e+01] [ 1.64891784e-01 6.54420725e-04 9.86311447e-01 4.36422698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52863999999994 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:351.34, Y:97.92, Z:43.64 [[ 7.77953891e-01 -6.14838548e-01 -1.29465457e-01 3.51336416e+02] [ 6.06299363e-01 7.88652432e-01 -1.02119654e-01 9.79220022e+01] [ 1.64890347e-01 9.49558380e-04 9.86311448e-01 4.36350147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58863999999994 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:351.38, Y:97.96, Z:43.64 [[ 7.79197093e-01 -6.13272881e-01 -1.29415083e-01 3.51378836e+02] [ 6.04701602e-01 7.89869935e-01 -1.02183453e-01 9.79606659e+01] [ 1.64887424e-01 1.36354174e-03 9.86311451e-01 4.36449182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64863999999994 meters Centerline goodness : 0.995210 with order 1 Centerline is valid? [True, True] Translation: X:351.42, Y:98.00, Z:43.67 [[ 7.79354896e-01 -6.13076788e-01 -1.29393967e-01 3.51421431e+02] [ 6.04498386e-01 7.90022012e-01 -1.02210186e-01 9.79966740e+01] [ 1.64886774e-01 1.43956496e-03 9.86311451e-01 4.36704980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70863999999995 meters Centerline goodness : 0.995894 with order 1 Centerline is valid? [True, True] Translation: X:351.46, Y:98.04, Z:43.68 [[ 7.80528810e-01 -6.11584527e-01 -1.29379840e-01 3.51464563e+02] [ 6.02982768e-01 7.91177101e-01 -1.02228065e-01 9.80350973e+01] [ 1.64883469e-01 1.77813614e-03 9.86311452e-01 4.36798040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76863999999995 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:351.51, Y:98.07, Z:43.67 [[ 7.81143965e-01 -6.10801690e-01 -1.29365383e-01 3.51510998e+02] [ 6.02186230e-01 7.91781173e-01 -1.02246356e-01 9.80738493e+01] [ 1.64881322e-01 1.96707146e-03 9.86311452e-01 4.36729283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:351.56, Y:98.11, Z:43.68 [[ 7.80762789e-01 -6.11291897e-01 -1.29351012e-01 3.51555206e+02] [ 6.02680105e-01 7.91402967e-01 -1.02264533e-01 9.81111144e+01] [ 1.64882255e-01 1.88706029e-03 9.86311452e-01 4.36830861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88863999999995 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:351.60, Y:98.15, Z:43.69 [[ 7.78948312e-01 -6.13605304e-01 -1.29336996e-01 3.51599932e+02] [ 6.05022171e-01 7.89611621e-01 -1.02282257e-01 9.81474382e+01] [ 1.64886931e-01 1.42084125e-03 9.86311453e-01 4.36923310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94863999999995 meters Centerline goodness : 0.993685 with order 1 Centerline is valid? [True, True] Translation: X:351.64, Y:98.18, Z:43.72 [[ 7.78631880e-01 -6.14009764e-01 -1.29322871e-01 3.51641975e+02] [ 6.05429204e-01 7.89297260e-01 -1.02300114e-01 9.81835290e+01] [ 1.64887456e-01 1.35828738e-03 9.86311453e-01 4.37179848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00863999999996 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:351.69, Y:98.22, Z:43.71 [[ 7.79215598e-01 -6.13271805e-01 -1.29308717e-01 3.51687247e+02] [ 6.04678177e-01 7.89870450e-01 -1.02318001e-01 9.82219809e+01] [ 1.64885880e-01 1.53762287e-03 9.86311453e-01 4.37116438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06863999999996 meters Centerline goodness : 0.999413 with order 1 Centerline is valid? [True, True] Translation: X:351.73, Y:98.26, Z:43.72 [[ 7.80846124e-01 -6.11198894e-01 -1.29287441e-01 3.51729263e+02] [ 6.02572532e-01 7.91474491e-01 -1.02344878e-01 9.82624532e+01] [ 1.64880788e-01 2.01054031e-03 9.86311454e-01 4.37221257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12863999999996 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:351.77, Y:98.30, Z:43.73 [[ 7.80999209e-01 -6.11006246e-01 -1.29273366e-01 3.51770485e+02] [ 6.02374321e-01 7.91623057e-01 -1.02362653e-01 9.83027609e+01] [ 1.64879998e-01 2.07419468e-03 9.86311454e-01 4.37306035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18863999999996 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:351.81, Y:98.34, Z:43.74 [[ 7.80126070e-01 -6.12125139e-01 -1.29252192e-01 3.51813650e+02] [ 6.03504023e-01 7.90758691e-01 -1.02389383e-01 9.83423664e+01] [ 1.64882409e-01 1.87240909e-03 9.86311454e-01 4.37406380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24863999999997 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:351.86, Y:98.38, Z:43.75 [[ 7.78016935e-01 -6.14806596e-01 -1.29238147e-01 3.51857566e+02] [ 6.06219183e-01 7.88676794e-01 -1.02407107e-01 9.83801924e+01] [ 1.64887693e-01 1.32781972e-03 9.86311455e-01 4.37491072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30863999999997 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:351.90, Y:98.42, Z:43.76 [[ 7.74829230e-01 -6.18822109e-01 -1.29224075e-01 3.51904222e+02] [ 6.10286980e-01 7.85530998e-01 -1.02424862e-01 9.84160029e+01] [ 1.64892286e-01 4.98006249e-04 9.86311455e-01 4.37590997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36863999999997 meters Centerline goodness : 0.999218 with order 1 Centerline is valid? [True, True] Translation: X:351.95, Y:98.45, Z:43.77 [[ 7.74332618e-01 -6.19444874e-01 -1.29217046e-01 3.51950578e+02] [ 6.10916873e-01 7.85040066e-01 -1.02433729e-01 9.84525321e+01] [ 1.64892607e-01 3.76903909e-04 9.86311455e-01 4.37693044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42864 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:352.00, Y:98.49, Z:43.78 [[ 7.74964612e-01 -6.18655488e-01 -1.29210047e-01 3.51996877e+02] [ 6.10115108e-01 7.85662190e-01 -1.02442557e-01 9.84895723e+01] [ 1.64892098e-01 5.56354820e-04 9.86311455e-01 4.37785456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48864 meters Centerline goodness : 0.995212 with order 1 Centerline is valid? [True, True] Translation: X:352.04, Y:98.53, Z:43.81 [[ 7.76544198e-01 -6.16673080e-01 -1.29203023e-01 3.52040736e+02] [ 6.08103917e-01 7.87218733e-01 -1.02451414e-01 9.85274675e+01] [ 1.64890069e-01 9.89186886e-04 9.86311455e-01 4.38053460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54864 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:352.09, Y:98.56, Z:43.80 [[ 7.76173651e-01 -6.17129943e-01 -1.29248197e-01 3.52091387e+02] [ 6.08576556e-01 7.86860829e-01 -1.02394394e-01 9.85631298e+01] [ 1.64890990e-01 8.18407488e-04 9.86311458e-01 4.38001508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:352.14, Y:98.60, Z:43.81 [[ 7.75161892e-01 -6.18400311e-01 -1.29248197e-01 3.52136556e+02] [ 6.09864439e-01 7.85863063e-01 -1.02394394e-01 9.86002732e+01] [ 1.64892109e-01 5.48352420e-04 9.86311458e-01 4.38104232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.6686399999999 meters Centerline goodness : 0.994628 with order 1 Centerline is valid? [True, True] Translation: X:352.18, Y:98.63, Z:43.84 [[ 7.76237424e-01 -6.17051203e-01 -1.29241146e-01 3.52181952e+02] [ 6.08495250e-01 7.86922548e-01 -1.02403292e-01 9.86347707e+01] [ 1.64890847e-01 8.46644233e-04 9.86311458e-01 4.38394511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.7286399999999 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:352.23, Y:98.67, Z:43.83 [[ 7.76464180e-01 -6.16763651e-01 -1.29251601e-01 3.52229782e+02] [ 6.08205938e-01 7.87147893e-01 -1.02390096e-01 9.86731694e+01] [ 1.64890614e-01 8.90650585e-04 9.86311458e-01 4.38300139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78863999999993 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:352.27, Y:98.71, Z:43.84 [[ 7.79356220e-01 -6.13108163e-01 -1.29237236e-01 3.52273463e+02] [ 6.04497335e-01 7.89997170e-01 -1.02408224e-01 9.87112213e+01] [ 1.64884369e-01 1.68892128e-03 9.86311458e-01 4.38409977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84863999999993 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:352.32, Y:98.75, Z:43.85 [[ 7.82028553e-01 -6.09698878e-01 -1.29223141e-01 3.52316065e+02] [ 6.01038726e-01 7.92629398e-01 -1.02426006e-01 9.87511635e+01] [ 1.64875082e-01 2.43194925e-03 9.86311458e-01 4.38504982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90863999999993 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:352.36, Y:98.79, Z:43.86 [[ 7.83873684e-01 -6.07327770e-01 -1.29209238e-01 3.52358866e+02] [ 5.98632664e-01 7.94445878e-01 -1.02443542e-01 9.87898624e+01] [ 1.64866554e-01 2.95392638e-03 9.86311459e-01 4.38597667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96863999999994 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:352.40, Y:98.83, Z:43.87 [[ 7.86270989e-01 -6.04224644e-01 -1.29191763e-01 3.52400048e+02] [ 5.95484201e-01 7.96805731e-01 -1.02465575e-01 9.88319253e+01] [ 1.64852963e-01 3.63405503e-03 9.86311459e-01 4.38699477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:352.44, Y:98.87, Z:43.88 [[ 7.87470058e-01 -6.02664114e-01 -1.29177683e-01 3.52440870e+02] [ 5.93899886e-01 7.97985021e-01 -1.02483323e-01 9.88742861e+01] [ 1.64844877e-01 3.98393703e-03 9.86311459e-01 4.38798998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08863999999994 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:352.48, Y:98.92, Z:43.89 [[ 7.87920648e-01 -6.02076606e-01 -1.29169710e-01 3.52484099e+02] [ 5.93302892e-01 7.98427697e-01 -1.02493371e-01 9.89187102e+01] [ 1.64841535e-01 4.11988065e-03 9.86311459e-01 4.38916453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14863999999994 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:352.53, Y:98.96, Z:43.90 [[ 7.87234765e-01 -6.02962650e-01 -1.29218682e-01 3.52529498e+02] [ 5.94210892e-01 7.97760105e-01 -1.02431593e-01 9.89622325e+01] [ 1.64847934e-01 3.85456288e-03 9.86311462e-01 4.39009340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20863999999995 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:352.57, Y:99.00, Z:43.91 [[ 7.85403865e-01 -6.05333669e-01 -1.29274581e-01 3.52574899e+02] [ 5.96625297e-01 7.95965125e-01 -1.02360998e-01 9.90043051e+01] [ 1.64860616e-01 3.26623845e-03 9.86311466e-01 4.39110732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26863999999995 meters Centerline goodness : 0.996342 with order 1 Centerline is valid? [True, True] Translation: X:352.62, Y:99.05, Z:43.94 [[ 7.84482781e-01 -6.06516390e-01 -1.29323763e-01 3.52617726e+02] [ 5.97834183e-01 7.95065557e-01 -1.02298823e-01 9.90454030e+01] [ 1.64866783e-01 2.93749930e-03 9.86311470e-01 4.39378142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32863999999995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:352.67, Y:99.09, Z:43.93 [[ 7.85393646e-01 -6.05324557e-01 -1.29379294e-01 3.52666333e+02] [ 5.96637860e-01 7.95972731e-01 -1.02228546e-01 9.90893565e+01] [ 1.64863839e-01 3.09706519e-03 9.86311474e-01 4.39320886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38863999999995 meters Centerline goodness : 0.994490 with order 1 Centerline is valid? [True, True] Translation: X:352.71, Y:99.13, Z:43.96 [[ 7.84933148e-01 -6.05909969e-01 -1.29433622e-01 3.52708740e+02] [ 5.97242504e-01 7.95527991e-01 -1.02159714e-01 9.91300292e+01] [ 1.64867658e-01 2.88528533e-03 9.86311477e-01 4.39609398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44863999999995 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:352.76, Y:99.17, Z:43.95 [[ 7.84592823e-01 -6.06340227e-01 -1.29482164e-01 3.52757285e+02] [ 5.97688725e-01 7.95200701e-01 -1.02098153e-01 9.91727906e+01] [ 1.64870525e-01 2.71544879e-03 9.86311480e-01 4.39527979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50863999999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:352.80, Y:99.21, Z:43.96 [[ 7.82436093e-01 -6.09110537e-01 -1.29530359e-01 3.52802707e+02] [ 6.00506719e-01 7.93082679e-01 -1.02036974e-01 9.92143592e+01] [ 1.64880080e-01 2.05356030e-03 9.86311483e-01 4.39625539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56863999999996 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:352.85, Y:99.26, Z:43.97 [[ 7.79305080e-01 -6.13100959e-01 -1.29579343e-01 3.52847606e+02] [ 6.04562006e-01 7.90003757e-01 -1.01974730e-01 9.92559977e+01] [ 1.64888973e-01 1.13067704e-03 9.86311486e-01 4.39726331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62863999999996 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:352.89, Y:99.30, Z:43.98 [[ 7.78101576e-01 -6.14617441e-01 -1.29627694e-01 3.52894293e+02] [ 6.06109582e-01 7.88824992e-01 -1.01913231e-01 9.92974984e+01] [ 1.64891214e-01 7.30258137e-04 9.86311489e-01 4.39829991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:352.94, Y:99.34, Z:43.99 [[ 7.77200479e-01 -6.15744731e-01 -1.29683623e-01 3.52939501e+02] [ 6.07264306e-01 7.87945599e-01 -1.01842013e-01 9.93397815e+01] [ 1.64892323e-01 3.99425608e-04 9.86311494e-01 4.39942302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74863999999997 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:352.99, Y:99.38, Z:44.00 [[ 7.73956566e-01 -6.19805728e-01 -1.29738558e-01 3.52988143e+02] [ 6.11393418e-01 7.84755091e-01 -1.01771984e-01 9.93770256e+01] [ 1.64891852e-01 -5.54205461e-04 9.86311497e-01 4.40033497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:353.04, Y:99.41, Z:44.01 [[ 7.71567955e-01 -6.22766654e-01 -1.29786690e-01 3.53037844e+02] [ 6.14406109e-01 7.82406604e-01 -1.01710566e-01 9.94147114e+01] [ 1.64887912e-01 -1.26512136e-03 9.86311500e-01 4.40126511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86863999999997 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:353.09, Y:99.45, Z:44.02 [[ 7.70076935e-01 -6.24598108e-01 -1.29841126e-01 3.53089033e+02] [ 6.16275058e-01 7.80944399e-01 -1.01641027e-01 9.94503393e+01] [ 1.64883494e-01 -1.74643693e-03 9.86311504e-01 4.40238784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92864 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:353.14, Y:99.48, Z:44.03 [[ 7.71709055e-01 -6.22569286e-01 -1.29894643e-01 3.53140324e+02] [ 6.14229181e-01 7.82563430e-01 -1.01572590e-01 9.94846277e+01] [ 1.64886772e-01 -1.40059244e-03 9.86311508e-01 4.40334359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98864 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:353.19, Y:99.52, Z:44.04 [[ 7.74395445e-01 -6.19214728e-01 -1.29941585e-01 3.53191882e+02] [ 6.10837681e-01 7.85221331e-01 -1.01512502e-01 9.95190808e+01] [ 1.64890941e-01 -7.62397021e-04 9.86311511e-01 4.40448778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:353.24, Y:99.56, Z:44.05 [[ 7.77047721e-01 -6.15871812e-01 -1.29995190e-01 3.53241566e+02] [ 6.07459679e-01 7.87846363e-01 -1.01443810e-01 9.95563532e+01] [ 1.64892621e-01 -1.40155012e-04 9.86311515e-01 4.40547937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10864 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:353.29, Y:99.59, Z:44.06 [[ 7.79585381e-01 -6.12644776e-01 -1.30050037e-01 3.53290241e+02] [ 6.04199677e-01 7.90358256e-01 -1.01373450e-01 9.95943886e+01] [ 1.64892035e-01 4.53068905e-04 9.86311519e-01 4.40646053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.1686399999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:353.34, Y:99.63, Z:44.07 [[ 7.80898012e-01 -6.10960511e-01 -1.30098226e-01 3.53338383e+02] [ 6.02502485e-01 7.91660736e-01 -1.01311570e-01 9.96335499e+01] [ 1.64891025e-01 7.29499300e-04 9.86311522e-01 4.40742254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.2286399999999 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:353.39, Y:99.67, Z:44.09 [[ 7.78635248e-01 -6.13830093e-01 -1.30152862e-01 3.53386116e+02] [ 6.05423469e-01 7.89438165e-01 -1.01241332e-01 9.96712240e+01] [ 1.64892613e-01 3.24730798e-05 9.86311525e-01 4.40850729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28863999999993 meters Centerline goodness : 0.990445 with order 1 Centerline is valid? [True, True] Translation: X:353.43, Y:99.71, Z:44.12 [[ 7.76567006e-01 -6.16435083e-01 -1.30197824e-01 3.53431027e+02] [ 6.08074394e-01 7.87405509e-01 -1.01183478e-01 9.97050995e+01] [ 1.64891529e-01 -5.94212182e-04 9.86311528e-01 4.41168952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34863999999993 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:353.48, Y:99.74, Z:44.11 [[ 7.75341798e-01 -6.17974700e-01 -1.30201252e-01 3.53483189e+02] [ 6.09636274e-01 7.86197437e-01 -1.01179067e-01 9.97419570e+01] [ 1.64889994e-01 -9.27046088e-04 9.86311528e-01 4.41052952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40863999999993 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:353.53, Y:99.78, Z:44.12 [[ 7.74015505e-01 -6.19633541e-01 -1.30208571e-01 3.53533934e+02] [ 6.11319964e-01 7.84890186e-01 -1.01169647e-01 9.97771637e+01] [ 1.64887536e-01 -1.29222322e-03 9.86311528e-01 4.41161042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:353.59, Y:99.81, Z:44.13 [[ 7.73377086e-01 -6.20420293e-01 -1.30255678e-01 3.53585098e+02] [ 6.12127996e-01 7.84267999e-01 -1.01108961e-01 9.98121887e+01] [ 1.64885411e-01 -1.53779348e-03 9.86311531e-01 4.41263726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:353.64, Y:99.84, Z:44.14 [[ 7.71236189e-01 -6.23068338e-01 -1.30309582e-01 3.53638388e+02] [ 6.14825171e-01 7.82164331e-01 -1.01039442e-01 9.98440091e+01] [ 1.64877984e-01 -2.19233651e-03 9.86311535e-01 4.41379073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58863999999994 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:353.69, Y:99.87, Z:44.15 [[ 7.68220373e-01 -6.26773236e-01 -1.30356316e-01 3.53692502e+02] [ 6.18592994e-01 7.79195692e-01 -1.00979113e-01 9.98746987e+01] [ 1.64864085e-01 -3.06329181e-03 9.86311538e-01 4.41450769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64863999999994 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:353.75, Y:99.90, Z:44.15 [[ 7.66763623e-01 -6.28545000e-01 -1.30402185e-01 3.53748322e+02] [ 6.20400186e-01 7.77765256e-01 -1.00919845e-01 9.99023054e+01] [ 1.64854953e-01 -3.51987375e-03 9.86311541e-01 4.41547957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70863999999995 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:353.80, Y:99.93, Z:44.17 [[ 7.66750046e-01 -6.28552183e-01 -1.30447382e-01 3.53800517e+02] [ 6.20417408e-01 7.77759101e-01 -1.00861391e-01 9.99340222e+01] [ 1.64853286e-01 -3.59635076e-03 9.86311543e-01 4.41662066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76863999999995 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:353.86, Y:99.96, Z:44.18 [[ 7.68090503e-01 -6.26904705e-01 -1.30489350e-01 3.53856801e+02] [ 6.18755537e-01 7.79088905e-01 -1.00807066e-01 9.99629350e+01] [ 1.64859229e-01 -3.31205749e-03 9.86311546e-01 4.41762603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82863999999995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:353.91, Y:99.99, Z:44.19 [[ 7.71154032e-01 -6.23121405e-01 -1.30541847e-01 3.53911348e+02] [ 6.14929778e-01 7.82120843e-01 -1.00739039e-01 9.99925713e+01] [ 1.64872151e-01 -2.58875257e-03 9.86311549e-01 4.41876571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:353.96, Y:100.02, Z:44.20 [[ 7.74689673e-01 -6.18710601e-01 -1.30587532e-01 3.53962788e+02] [ 6.10466510e-01 7.85617096e-01 -1.00679784e-01 1.00022022e+02] [ 1.64883447e-01 -1.72372606e-03 9.86311552e-01 4.41960800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:354.01, Y:100.05, Z:44.21 [[ 7.76728254e-01 -6.16150823e-01 -1.30580941e-01 3.54011149e+02] [ 6.07869281e-01 7.87627321e-01 -1.00688332e-01 1.00053633e+02] [ 1.64888315e-01 -1.16867077e-03 9.86311552e-01 4.42060806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:354.06, Y:100.08, Z:44.22 [[ 7.78415217e-01 -6.14021076e-01 -1.30567488e-01 3.54059812e+02] [ 6.05706787e-01 7.89289323e-01 -1.00705774e-01 1.00083452e+02] [ 1.64890992e-01 -6.94706860e-04 9.86311552e-01 4.42175160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06863999999996 meters Centerline goodness : 0.996197 with order 1 Centerline is valid? [True, True] Translation: X:354.11, Y:100.11, Z:44.24 [[ 7.80222234e-01 -6.11727663e-01 -1.30547048e-01 3.54106387e+02] [ 6.03376977e-01 7.91068414e-01 -1.00732264e-01 1.00114340e+02] [ 1.64892359e-01 -1.75531486e-04 9.86311553e-01 4.42432462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12863999999996 meters Centerline goodness : 0.995998 with order 1 Centerline is valid? [True, True] Translation: X:354.15, Y:100.15, Z:44.25 [[ 7.82383842e-01 -6.08963575e-01 -1.30533089e-01 3.54152695e+02] [ 6.00571552e-01 7.93198070e-01 -1.00750349e-01 1.00148636e+02] [ 1.64891887e-01 4.30985292e-04 9.86311553e-01 4.42523501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18863999999996 meters Centerline goodness : 0.996728 with order 1 Centerline is valid? [True, True] Translation: X:354.20, Y:100.18, Z:44.26 [[ 7.83296114e-01 -6.07793481e-01 -1.30515446e-01 3.54199917e+02] [ 5.99381496e-01 7.94094821e-01 -1.00773199e-01 1.00181704e+02] [ 1.64890934e-01 7.06712073e-04 9.86311553e-01 4.42621005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24863999999997 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:354.25, Y:100.22, Z:44.26 [[ 7.82765457e-01 -6.08479735e-01 -1.30501540e-01 3.54249304e+02] [ 6.00074215e-01 7.93569196e-01 -1.00791205e-01 1.00216312e+02] [ 1.64891408e-01 5.85263848e-04 9.86311554e-01 4.42570368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30863999999997 meters Centerline goodness : 0.995845 with order 1 Centerline is valid? [True, True] Translation: X:354.29, Y:100.25, Z:44.28 [[ 7.80775323e-01 -6.11034265e-01 -1.30487632e-01 3.54294858e+02] [ 6.02661083e-01 7.91604145e-01 -1.00809208e-01 1.00246917e+02] [ 1.64892430e-01 6.95241634e-05 9.86311554e-01 4.42845878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:354.35, Y:100.28, Z:44.27 [[ 7.78271468e-01 -6.14223190e-01 -1.30473732e-01 3.54347938e+02] [ 6.05891362e-01 7.89132140e-01 -1.00827195e-01 1.00279100e+02] [ 1.64891416e-01 -5.81978356e-04 9.86311554e-01 4.42740579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42864 meters Centerline goodness : 0.994099 with order 1 Centerline is valid? [True, True] Translation: X:354.39, Y:100.31, Z:44.30 [[ 7.78829708e-01 -6.13525481e-01 -1.30425345e-01 3.54394412e+02] [ 6.05173446e-01 7.89674844e-01 -1.00889748e-01 1.00308325e+02] [ 1.64892045e-01 -3.54022103e-04 9.86311557e-01 4.43033994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48864 meters Centerline goodness : 0.996872 with order 1 Centerline is valid? [True, True] Translation: X:354.44, Y:100.34, Z:44.31 [[ 7.79057000e-01 -6.13247156e-01 -1.30376823e-01 3.54442606e+02] [ 6.04880758e-01 7.89891055e-01 -1.00952414e-01 1.00343157e+02] [ 1.64892267e-01 -2.14746700e-04 9.86311560e-01 4.43084014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54864 meters Centerline goodness : 0.996584 with order 1 Centerline is valid? [True, True] Translation: X:354.49, Y:100.37, Z:44.32 [[ 7.79772092e-01 -6.12339112e-01 -1.30369846e-01 3.54492590e+02] [ 6.03958591e-01 7.90595226e-01 -1.00961423e-01 1.00373266e+02] [ 1.64892406e-01 -1.10887728e-05 9.86311561e-01 4.43199497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60864 meters Centerline goodness : 0.997899 with order 1 Centerline is valid? [True, True] Translation: X:354.54, Y:100.40, Z:44.33 [[ 7.78745999e-01 -6.13653814e-01 -1.30321394e-01 3.54542792e+02] [ 6.05281103e-01 7.89575172e-01 -1.01023926e-01 1.00404153e+02] [ 1.64892255e-01 -2.09098687e-04 9.86311564e-01 4.43257609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.6686399999999 meters Centerline goodness : 0.997653 with order 1 Centerline is valid? [True, True] Translation: X:354.59, Y:100.43, Z:44.34 [[ 7.79482395e-01 -6.12728742e-01 -1.30271582e-01 3.54594457e+02] [ 6.04332448e-01 7.90293290e-01 -1.01088120e-01 1.00432331e+02] [ 1.64892354e-01 6.90653863e-05 9.86311567e-01 4.43380759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.7286399999999 meters Centerline goodness : 0.995944 with order 1 Centerline is valid? [True, True] Translation: X:354.65, Y:100.46, Z:44.35 [[ 7.81256923e-01 -6.10474556e-01 -1.30224561e-01 3.54646038e+02] [ 6.02036976e-01 7.92035623e-01 -1.01148658e-01 1.00460461e+02] [ 1.64891174e-01 6.23088622e-04 9.86311570e-01 4.43475578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78863999999993 meters Centerline goodness : 0.994576 with order 1 Centerline is valid? [True, True] Translation: X:354.70, Y:100.49, Z:44.36 [[ 7.81596471e-01 -6.10050571e-01 -1.30173949e-01 3.54696656e+02] [ 6.01596301e-01 7.92362081e-01 -1.01213752e-01 1.00490215e+02] [ 1.64890409e-01 7.96145126e-04 9.86311573e-01 4.43576486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84863999999993 meters Centerline goodness : 0.994765 with order 1 Centerline is valid? [True, True] Translation: X:354.75, Y:100.52, Z:44.37 [[ 7.84037572e-01 -6.06920931e-01 -1.30123283e-01 3.54747850e+02] [ 5.98412884e-01 7.94760728e-01 -1.01278850e-01 1.00519415e+02] [ 1.64885129e-01 1.53897450e-03 9.86311576e-01 4.43679290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90863999999993 meters Centerline goodness : 0.999461 with order 1 Centerline is valid? [True, True] Translation: X:354.80, Y:100.55, Z:44.36 [[ 7.85390086e-01 -6.05180532e-01 -1.30072810e-01 3.54799253e+02] [ 5.96637995e-01 7.96085781e-01 -1.01343632e-01 1.00551579e+02] [ 1.64880308e-01 1.98790382e-03 9.86311580e-01 4.43615817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96863999999994 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:354.85, Y:100.59, Z:44.37 [[ 7.87644624e-01 -6.02254235e-01 -1.30022237e-01 3.54846830e+02] [ 5.93661260e-01 7.98299836e-01 -1.01408476e-01 1.00585745e+02] [ 1.64870414e-01 2.68467588e-03 9.86311583e-01 4.43696825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02863999999994 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:354.89, Y:100.62, Z:44.38 [[ 7.88704854e-01 -6.00875600e-01 -1.29973717e-01 3.54891421e+02] [ 5.92253762e-01 7.99336721e-01 -1.01470626e-01 1.00621946e+02] [ 1.64863988e-01 3.05295242e-03 9.86311586e-01 4.43802626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08863999999994 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:354.93, Y:100.66, Z:44.39 [[ 7.92193386e-01 -5.96280642e-01 -1.29919340e-01 3.54929896e+02] [ 5.87585745e-01 8.02765582e-01 -1.01540201e-01 1.00664906e+02] [ 1.64841231e-01 4.10072342e-03 9.86311590e-01 4.43901506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14863999999994 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:354.97, Y:100.70, Z:44.40 [[ 7.91803582e-01 -5.96809986e-01 -1.29865038e-01 3.54972241e+02] [ 5.88110782e-01 8.02372230e-01 -1.01609604e-01 1.00704218e+02] [ 1.64841727e-01 4.07981912e-03 9.86311594e-01 4.44000592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20863999999995 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:355.01, Y:100.74, Z:44.41 [[ 7.88592968e-01 -6.01057649e-01 -1.29810761e-01 3.55014700e+02] [ 5.92403980e-01 7.99198927e-01 -1.01678899e-01 1.00744772e+02] [ 1.64859501e-01 3.28285324e-03 9.86311598e-01 4.44098364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26863999999995 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:355.06, Y:100.78, Z:44.42 [[ 7.83949071e-01 -6.07112260e-01 -1.29763472e-01 3.55057947e+02] [ 5.98530534e-01 7.94613322e-01 -1.01739216e-01 1.00782980e+02] [ 1.64878908e-01 2.09096351e-03 9.86311601e-01 4.44197652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32863999999995 meters Centerline goodness : 0.989271 with order 1 Centerline is valid? [True, True] Translation: X:355.10, Y:100.82, Z:44.45 [[ 7.81439036e-01 -6.10351497e-01 -1.29707684e-01 3.55100277e+02] [ 6.01802181e-01 7.92129282e-01 -1.01810291e-01 1.00817808e+02] [ 1.64885318e-01 1.50016803e-03 9.86311605e-01 4.44511636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38863999999995 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:355.15, Y:100.86, Z:44.44 [[ 7.79614786e-01 -6.12684885e-01 -1.29684299e-01 3.55149100e+02] [ 6.04162612e-01 7.90326602e-01 -1.01840070e-01 1.00856014e+02] [ 1.64888823e-01 1.04561906e-03 9.86311605e-01 4.44393154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44863999999995 meters Centerline goodness : 0.989551 with order 1 Centerline is valid? [True, True] Translation: X:355.19, Y:100.89, Z:44.47 [[ 7.78672394e-01 -6.13884409e-01 -1.29673572e-01 3.55192124e+02] [ 6.05376364e-01 7.89395514e-01 -1.01853726e-01 1.00890642e+02] [ 1.64890151e-01 8.09369263e-04 9.86311605e-01 4.44687832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50863999999996 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:355.24, Y:100.93, Z:44.46 [[ 7.77363689e-01 -6.15545849e-01 -1.29649541e-01 3.55240105e+02] [ 6.07055621e-01 7.88100921e-01 -1.01884306e-01 1.00928365e+02] [ 1.64891385e-01 4.96677526e-04 9.86311606e-01 4.44599369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56863999999996 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:355.29, Y:100.96, Z:44.47 [[ 7.76548278e-01 -6.16584980e-01 -1.29598355e-01 3.55285625e+02] [ 6.08098259e-01 7.87288278e-01 -1.01949376e-01 1.00963085e+02] [ 1.64891719e-01 3.60078598e-04 9.86311610e-01 4.44679834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.33, Y:101.00, Z:44.48 [[ 7.75812483e-01 -6.17522605e-01 -1.29540818e-01 3.55329334e+02] [ 6.09036662e-01 7.86553092e-01 -1.02022434e-01 1.01001354e+02] [ 1.64891890e-01 2.55170186e-04 9.86311614e-01 4.44773798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68863999999996 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:355.37, Y:101.04, Z:44.49 [[ 7.74991908e-01 -6.18562685e-01 -1.29490336e-01 3.55374520e+02] [ 6.10080456e-01 7.85735446e-01 -1.02086468e-01 1.01038316e+02] [ 1.64892026e-01 1.16663347e-04 9.86311617e-01 4.44879038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:355.42, Y:101.08, Z:44.50 [[ 7.74623135e-01 -6.19035010e-01 -1.29439777e-01 3.55419588e+02] [ 6.10548623e-01 7.85363385e-01 -1.02150533e-01 1.01075125e+02] [ 1.64892018e-01 9.88883080e-05 9.86311620e-01 4.44963272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:355.47, Y:101.11, Z:44.51 [[ 7.75310088e-01 -6.18184898e-01 -1.29389721e-01 3.55465237e+02] [ 6.09676158e-01 7.86032634e-01 -1.02213899e-01 1.01109093e+02] [ 1.64891632e-01 3.61638677e-04 9.86311624e-01 4.45060917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86863999999997 meters Centerline goodness : 0.994631 with order 1 Centerline is valid? [True, True] Translation: X:355.51, Y:101.14, Z:44.54 [[ 7.77929099e-01 -6.14897998e-01 -1.29332007e-01 3.55509517e+02] [ 6.06331819e-01 7.88605808e-01 -1.02286874e-01 1.01143109e+02] [ 1.64887966e-01 1.15382460e-03 9.86311628e-01 4.45364613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.56, Y:101.18, Z:44.53 [[ 7.78792197e-01 -6.13806618e-01 -1.29321883e-01 3.55559624e+02] [ 6.05223352e-01 7.89455174e-01 -1.02299672e-01 1.01179417e+02] [ 1.64886046e-01 1.40156253e-03 9.86311628e-01 4.45250204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.61, Y:101.21, Z:44.54 [[ 7.79616164e-01 -6.12762002e-01 -1.29311117e-01 3.55606437e+02] [ 6.04162192e-01 7.90265802e-01 -1.02313280e-01 1.01213501e+02] [ 1.64883844e-01 1.64019923e-03 9.86311628e-01 4.45351310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:355.65, Y:101.25, Z:44.54 [[ 7.79983853e-01 -6.12304621e-01 -1.29260356e-01 3.55651787e+02] [ 6.03687945e-01 7.90619845e-01 -1.02377371e-01 1.01249893e+02] [ 1.64881940e-01 1.81977787e-03 9.86311631e-01 4.45441694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10864 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:355.69, Y:101.29, Z:44.55 [[ 7.81374257e-01 -6.10539826e-01 -1.29210647e-01 3.55694997e+02] [ 6.01888761e-01 7.91982293e-01 -1.02440071e-01 1.01288423e+02] [ 1.64876287e-01 2.27359844e-03 9.86311635e-01 4.45543018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.1686399999999 meters Centerline goodness : 0.996581 with order 1 Centerline is valid? [True, True] Translation: X:355.74, Y:101.33, Z:44.58 [[ 7.83433383e-01 -6.07905881e-01 -1.29161037e-01 3.55735241e+02] [ 5.99208850e-01 7.94003762e-01 -1.02502584e-01 1.01326986e+02] [ 1.64866273e-01 2.90950962e-03 9.86311638e-01 4.45823213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.2286399999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:355.78, Y:101.37, Z:44.57 [[ 7.85246641e-01 -6.05567171e-01 -1.29136029e-01 3.55781486e+02] [ 5.96833484e-01 7.95786752e-01 -1.02534081e-01 1.01367983e+02] [ 1.64856014e-01 3.44183659e-03 9.86311639e-01 4.45723066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28863999999993 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:355.82, Y:101.41, Z:44.59 [[ 7.86181594e-01 -6.04363591e-01 -1.29085829e-01 3.55822446e+02] [ 5.95603404e-01 7.96699687e-01 -1.02597242e-01 1.01409656e+02] [ 1.64848677e-01 3.77610460e-03 9.86311642e-01 4.45850195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34863999999993 meters Centerline goodness : 0.997552 with order 1 Centerline is valid? [True, True] Translation: X:355.86, Y:101.45, Z:44.61 [[ 7.86126537e-01 -6.04445553e-01 -1.29037364e-01 3.55863092e+02] [ 5.95676470e-01 7.96637210e-01 -1.02658161e-01 1.01446767e+02] [ 1.64847235e-01 3.83778276e-03 9.86311645e-01 4.46132066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40863999999993 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:355.91, Y:101.49, Z:44.60 [[ 7.82653062e-01 -6.08946761e-01 -1.28988478e-01 3.55907638e+02] [ 6.00228023e-01 7.93205531e-01 -1.02719550e-01 1.01488561e+02] [ 1.64865111e-01 2.97127115e-03 9.86311648e-01 4.46045806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46863999999994 meters Centerline goodness : 0.997168 with order 1 Centerline is valid? [True, True] Translation: X:355.95, Y:101.53, Z:44.63 [[ 7.81910878e-01 -6.09910010e-01 -1.28938582e-01 3.55947708e+02] [ 6.01193954e-01 7.92465558e-01 -1.02782145e-01 1.01525968e+02] [ 1.64867244e-01 2.84938162e-03 9.86311651e-01 4.46324919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:356.00, Y:101.57, Z:44.62 [[ 7.77706473e-01 -6.15265089e-01 -1.28924447e-01 3.55996418e+02] [ 6.06618780e-01 7.88318364e-01 -1.02799872e-01 1.01565048e+02] [ 1.64882681e-01 1.74013567e-03 9.86311651e-01 4.46227124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58863999999994 meters Centerline goodness : 0.995850 with order 1 Centerline is valid? [True, True] Translation: X:356.04, Y:101.60, Z:44.66 [[ 7.77303537e-01 -6.15775564e-01 -1.28917288e-01 3.56040076e+02] [ 6.07134735e-01 7.87919890e-01 -1.02808849e-01 1.01599084e+02] [ 1.64883672e-01 1.64351884e-03 9.86311651e-01 4.46553995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:356.09, Y:101.64, Z:44.64 [[ 7.73945162e-01 -6.19991743e-01 -1.28915189e-01 3.56091090e+02] [ 6.11408312e-01 7.84607976e-01 -1.02811481e-01 1.01637130e+02] [ 1.64890155e-01 7.50630456e-04 9.86311651e-01 4.46422368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:356.14, Y:101.67, Z:44.65 [[ 7.73912220e-01 -6.20033309e-01 -1.28913039e-01 3.56136903e+02] [ 6.11450002e-01 7.84575134e-01 -1.02814177e-01 1.01672101e+02] [ 1.64890179e-01 7.45270029e-04 9.86311651e-01 4.46518785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76863999999995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:356.18, Y:101.71, Z:44.66 [[ 7.75107934e-01 -6.18549868e-01 -1.28855542e-01 3.56181583e+02] [ 6.09934181e-01 7.85744696e-01 -1.02886188e-01 1.01709020e+02] [ 1.64887796e-01 1.15450103e-03 9.86311655e-01 4.46622811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.22, Y:101.75, Z:44.67 [[ 7.77792393e-01 -6.15181455e-01 -1.28805169e-01 3.56224697e+02] [ 6.06509267e-01 7.88383136e-01 -1.02949212e-01 1.01746768e+02] [ 1.64880269e-01 1.95158502e-03 9.86311659e-01 4.46721895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.27, Y:101.79, Z:44.68 [[ 7.81458239e-01 -6.10530160e-01 -1.28747597e-01 3.56265349e+02] [ 6.01783091e-01 7.91987217e-01 -1.03021163e-01 1.01788146e+02] [ 1.64863978e-01 3.02860935e-03 9.86311663e-01 4.46820449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:356.31, Y:101.83, Z:44.69 [[ 7.82951413e-01 -6.08626187e-01 -1.28690518e-01 3.56305915e+02] [ 5.99841810e-01 7.93449278e-01 -1.03092416e-01 1.01829435e+02] [ 1.64854142e-01 3.52239941e-03 9.86311667e-01 4.46917689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00863999999996 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:356.35, Y:101.87, Z:44.72 [[ 7.82591212e-01 -6.09101270e-01 -1.28633735e-01 3.56346385e+02] [ 6.00311634e-01 7.93084669e-01 -1.03163219e-01 1.01867398e+02] [ 1.64854291e-01 3.51430047e-03 9.86311671e-01 4.47178588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06863999999996 meters Centerline goodness : 0.998485 with order 1 Centerline is valid? [True, True] Translation: X:356.39, Y:101.91, Z:44.73 [[ 7.82296507e-01 -6.09482689e-01 -1.28619696e-01 3.56386832e+02] [ 6.00695294e-01 7.92791841e-01 -1.03180719e-01 1.01908474e+02] [ 1.64855508e-01 3.45667009e-03 9.86311671e-01 4.47307059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:356.43, Y:101.95, Z:44.72 [[ 7.79246618e-01 -6.13380276e-01 -1.28605384e-01 3.56432097e+02] [ 6.04642440e-01 7.89783247e-01 -1.03198556e-01 1.01951103e+02] [ 1.64870336e-01 2.65685248e-03 9.86311672e-01 4.47207764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18863999999996 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:356.47, Y:101.99, Z:44.75 [[ 7.76564557e-01 -6.16773903e-01 -1.28597983e-01 3.56473014e+02] [ 6.08080590e-01 7.87137949e-01 -1.03207776e-01 1.01989035e+02] [ 1.64880216e-01 1.94956352e-03 9.86311672e-01 4.47463009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.52, Y:102.03, Z:44.74 [[ 7.71209473e-01 -6.23459866e-01 -1.28583603e-01 3.56521149e+02] [ 6.14855237e-01 7.81855162e-01 -1.03225689e-01 1.02026087e+02] [ 1.64890828e-01 5.48326988e-04 9.86311672e-01 4.47384375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:356.57, Y:102.06, Z:44.75 [[ 7.68746915e-01 -6.26496770e-01 -1.28568964e-01 3.56565770e+02] [ 6.17931146e-01 7.79424013e-01 -1.03243919e-01 1.02062885e+02] [ 1.64891720e-01 -7.83229862e-05 9.86311672e-01 4.47489988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.61, Y:102.10, Z:44.76 [[ 7.66928886e-01 -6.28723933e-01 -1.28554657e-01 3.56611219e+02] [ 6.20186329e-01 7.77628402e-01 -1.03261731e-01 1.02099531e+02] [ 1.64890874e-01 -5.33436836e-04 9.86311672e-01 4.47591393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:356.66, Y:102.13, Z:44.77 [[ 7.65919005e-01 -6.29956679e-01 -1.28540504e-01 3.56657525e+02] [ 6.21433340e-01 7.76629887e-01 -1.03279345e-01 1.02134458e+02] [ 1.64889911e-01 -7.75741328e-04 9.86311673e-01 4.47678372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48864 meters Centerline goodness : 0.998586 with order 1 Centerline is valid? [True, True] Translation: X:356.70, Y:102.17, Z:44.80 [[ 7.66934750e-01 -6.28722572e-01 -1.28526326e-01 3.56701761e+02] [ 6.20179041e-01 7.77629533e-01 -1.03296986e-01 1.02168377e+02] [ 1.64891014e-01 -4.87285228e-04 9.86311673e-01 4.47988235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54864 meters Centerline goodness : 0.998439 with order 1 Centerline is valid? [True, True] Translation: X:356.75, Y:102.20, Z:44.81 [[ 7.67137439e-01 -6.28475960e-01 -1.28522825e-01 3.56747936e+02] [ 6.19928261e-01 7.77828891e-01 -1.03301342e-01 1.02203994e+02] [ 1.64891177e-01 -4.28604752e-04 9.86311673e-01 4.48082952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60864 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:356.80, Y:102.24, Z:44.80 [[ 7.66089746e-01 -6.29755564e-01 -1.28508482e-01 3.56797649e+02] [ 6.21222730e-01 7.76793065e-01 -1.03319182e-01 1.02240952e+02] [ 1.64890327e-01 -6.80623540e-04 9.86311673e-01 4.47966255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.6686399999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:356.84, Y:102.27, Z:44.81 [[ 7.66731619e-01 -6.28976133e-01 -1.28497658e-01 3.56844184e+02] [ 6.20430163e-01 7.77424452e-01 -1.03332642e-01 1.02274805e+02] [ 1.64890987e-01 -4.95419610e-04 9.86311673e-01 4.48064505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.7286399999999 meters Centerline goodness : 0.999853 with order 1 Centerline is valid? [True, True] Translation: X:356.89, Y:102.31, Z:44.82 [[ 7.68896604e-01 -6.26331285e-01 -1.28480091e-01 3.56891653e+02] [ 6.17744883e-01 7.79556997e-01 -1.03354480e-01 1.02307772e+02] [ 1.64891698e-01 1.00989434e-04 9.86311674e-01 4.48170988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78863999999993 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:356.94, Y:102.34, Z:44.83 [[ 7.70700886e-01 -6.24112700e-01 -1.28465877e-01 3.56936675e+02] [ 6.15492666e-01 7.81334102e-01 -1.03372144e-01 1.02343587e+02] [ 1.64890639e-01 5.99197374e-04 9.86311674e-01 4.48278878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84863999999993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:356.98, Y:102.38, Z:44.84 [[ 7.72236711e-01 -6.22214291e-01 -1.28451698e-01 3.56983505e+02] [ 6.13565186e-01 7.82846294e-01 -1.03389760e-01 1.02377968e+02] [ 1.64888522e-01 1.02787841e-03 9.86311674e-01 4.48380039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90863999999993 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:357.03, Y:102.41, Z:44.85 [[ 7.71158362e-01 -6.23553188e-01 -1.28437541e-01 3.57030370e+02] [ 6.14919575e-01 7.81780556e-01 -1.03407344e-01 1.02412039e+02] [ 1.64889951e-01 7.64679278e-04 9.86311674e-01 4.48479201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:357.08, Y:102.45, Z:44.86 [[ 7.69884530e-01 -6.25128242e-01 -1.28423096e-01 3.57078731e+02] [ 6.16513369e-01 7.80521926e-01 -1.03425281e-01 1.02445161e+02] [ 1.64891106e-01 4.50968155e-04 9.86311675e-01 4.48575873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02863999999994 meters Centerline goodness : 0.997156 with order 1 Centerline is valid? [True, True] Translation: X:357.12, Y:102.48, Z:44.89 [[ 7.70554387e-01 -6.24305300e-01 -1.28408836e-01 3.57124176e+02] [ 6.15676116e-01 7.81180177e-01 -1.03442983e-01 1.02478371e+02] [ 1.64890439e-01 6.50191221e-04 9.86311675e-01 4.48860520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08863999999994 meters Centerline goodness : 0.997610 with order 1 Centerline is valid? [True, True] Translation: X:357.17, Y:102.51, Z:44.90 [[ 7.71325793e-01 -6.23352730e-01 -1.28405200e-01 3.57170378e+02] [ 6.14709672e-01 7.81940301e-01 -1.03447496e-01 1.02512185e+02] [ 1.64889480e-01 8.59803563e-04 9.86311675e-01 4.48965141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14863999999994 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:357.22, Y:102.55, Z:44.89 [[ 7.72676242e-01 -6.21690312e-01 -1.28345550e-01 3.57221349e+02] [ 6.13012131e-01 7.83262049e-01 -1.03521451e-01 1.02548326e+02] [ 1.64886481e-01 1.31118650e-03 9.86311679e-01 4.48866875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:357.27, Y:102.58, Z:44.90 [[ 7.74988511e-01 -6.18806243e-01 -1.28341893e-01 3.57269570e+02] [ 6.10087918e-01 7.85541280e-01 -1.03525984e-01 1.02580904e+02] [ 1.64880380e-01 1.93160967e-03 9.86311679e-01 4.48967420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26863999999995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:357.32, Y:102.62, Z:44.91 [[ 7.77042397e-01 -6.16235651e-01 -1.28291605e-01 3.57315702e+02] [ 6.07472137e-01 7.87557664e-01 -1.03588265e-01 1.02615553e+02] [ 1.64871819e-01 2.55889802e-03 9.86311683e-01 4.49064667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:357.36, Y:102.65, Z:44.92 [[ 7.78462818e-01 -6.14450737e-01 -1.28241701e-01 3.57361926e+02] [ 6.05652945e-01 7.88949419e-01 -1.03650011e-01 1.02649526e+02] [ 1.64864041e-01 3.01771612e-03 9.86311686e-01 4.49167550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38863999999995 meters Centerline goodness : 0.996631 with order 1 Centerline is valid? [True, True] Translation: X:357.41, Y:102.68, Z:44.95 [[ 7.79556554e-01 -6.13074434e-01 -1.28184698e-01 3.57406667e+02] [ 6.04246550e-01 7.90017831e-01 -1.03720460e-01 1.02682535e+02] [ 1.64856559e-01 3.40080283e-03 9.86311690e-01 4.49488218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.46, Y:102.72, Z:44.94 [[ 7.78579039e-01 -6.14315981e-01 -1.28181726e-01 3.57457149e+02] [ 6.05504175e-01 7.89053863e-01 -1.03724132e-01 1.02720809e+02] [ 1.64861678e-01 3.14286513e-03 9.86311690e-01 4.49359875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50863999999996 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:357.50, Y:102.75, Z:44.95 [[ 7.78236306e-01 -6.14750831e-01 -1.28178265e-01 3.57503451e+02] [ 6.05944175e-01 7.88715458e-01 -1.03728409e-01 1.02753810e+02] [ 1.64863305e-01 3.05634080e-03 9.86311690e-01 4.49467735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56863999999996 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:357.55, Y:102.79, Z:44.96 [[ 7.78208446e-01 -6.14797965e-01 -1.28121334e-01 3.57549761e+02] [ 6.05980378e-01 7.88678398e-01 -1.03798681e-01 1.02788677e+02] [ 1.64861747e-01 3.13799569e-03 9.86311694e-01 4.49561765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62863999999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:357.60, Y:102.82, Z:44.97 [[ 7.75984986e-01 -6.17612376e-01 -1.28071285e-01 3.57598380e+02] [ 6.08822582e-01 7.86478277e-01 -1.03860398e-01 1.02821530e+02] [ 1.64870751e-01 2.62141897e-03 9.86311697e-01 4.49661065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68863999999996 meters Centerline goodness : 0.996489 with order 1 Centerline is valid? [True, True] Translation: X:357.64, Y:102.85, Z:45.00 [[ 7.72776174e-01 -6.21633101e-01 -1.28020592e-01 3.57644579e+02] [ 6.12887563e-01 7.83306375e-01 -1.03922847e-01 1.02853388e+02] [ 1.64881227e-01 1.84687144e-03 9.86311700e-01 4.49991517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74863999999997 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:357.70, Y:102.89, Z:44.99 [[ 7.70815262e-01 -6.24064167e-01 -1.28014638e-01 3.57695820e+02] [ 6.15350624e-01 7.81371952e-01 -1.03930180e-01 1.02889697e+02] [ 1.64886149e-01 1.33708176e-03 9.86311700e-01 4.49884719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80863999999997 meters Centerline goodness : 0.996875 with order 1 Centerline is valid? [True, True] Translation: X:357.74, Y:102.92, Z:45.02 [[ 7.71134170e-01 -6.23670478e-01 -1.28012605e-01 3.57741230e+02] [ 6.14951129e-01 7.81686066e-01 -1.03932685e-01 1.02922861e+02] [ 1.64885417e-01 1.42454865e-03 9.86311700e-01 4.50195055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:357.79, Y:102.96, Z:45.01 [[ 7.72082837e-01 -6.22496293e-01 -1.28009599e-01 3.57791226e+02] [ 6.13760284e-01 7.82620944e-01 -1.03936387e-01 1.02960829e+02] [ 1.64883009e-01 1.68029266e-03 9.86311700e-01 4.50088955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92864 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:357.83, Y:103.00, Z:45.04 [[ 7.76121931e-01 -6.17453534e-01 -1.28007347e-01 3.57832047e+02] [ 6.08648605e-01 7.86602521e-01 -1.03939161e-01 1.02999812e+02] [ 1.64868504e-01 2.75796938e-03 9.86311700e-01 4.50355086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:357.88, Y:103.04, Z:45.03 [[ 7.75086371e-01 -6.18754450e-01 -1.28000188e-01 3.57880774e+02] [ 6.09965657e-01 7.85580496e-01 -1.03947976e-01 1.03037831e+02] [ 1.64872724e-01 2.49294088e-03 9.86311700e-01 4.50281737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.92, Y:103.08, Z:45.04 [[ 7.75131829e-01 -6.18698984e-01 -1.27993024e-01 3.57922974e+02] [ 6.09907984e-01 7.85624106e-01 -1.03956796e-01 1.03077962e+02] [ 1.64872369e-01 2.51625405e-03 9.86311700e-01 4.50382764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:357.96, Y:103.12, Z:45.05 [[ 7.76052636e-01 -6.17553982e-01 -1.27942899e-01 3.57964521e+02] [ 6.08737340e-01 7.86523371e-01 -1.04018451e-01 1.03117964e+02] [ 1.64867089e-01 2.84017318e-03 9.86311703e-01 4.50477091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.1686399999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:358.01, Y:103.16, Z:45.06 [[ 7.77598883e-01 -6.15617817e-01 -1.27885418e-01 3.58006597e+02] [ 6.06763496e-01 7.88037769e-01 -1.04089075e-01 1.03158637e+02] [ 1.64857628e-01 3.34334492e-03 9.86311708e-01 4.50564760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.2286399999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.05, Y:103.20, Z:45.07 [[ 7.78342467e-01 -6.14687720e-01 -1.27835872e-01 3.58048683e+02] [ 6.05810942e-01 7.88762260e-01 -1.04149889e-01 1.03198342e+02] [ 1.64851769e-01 3.61991191e-03 9.86311711e-01 4.50651303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28863999999993 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:358.09, Y:103.24, Z:45.08 [[ 7.79328682e-01 -6.13448589e-01 -1.27779635e-01 3.58088345e+02] [ 6.04543947e-01 7.89724667e-01 -1.04218840e-01 1.03239065e+02] [ 1.64843630e-01 3.97232645e-03 9.86311715e-01 4.50767130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34863999999993 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:358.13, Y:103.28, Z:45.09 [[ 7.79120956e-01 -6.13724058e-01 -1.27723594e-01 3.58127571e+02] [ 6.04811849e-01 7.89510450e-01 -1.04287476e-01 1.03282317e+02] [ 1.64842845e-01 4.00381472e-03 9.86311718e-01 4.50861165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40863999999993 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:358.17, Y:103.32, Z:45.09 [[ 7.77310852e-01 -6.16025187e-01 -1.27674623e-01 3.58170700e+02] [ 6.07133901e-01 7.87718253e-01 -1.04347396e-01 1.03321358e+02] [ 1.64852255e-01 3.59477159e-03 9.86311721e-01 4.50936100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.21, Y:103.36, Z:45.10 [[ 7.74892413e-01 -6.19074805e-01 -1.27624975e-01 3.58213502e+02] [ 6.10214492e-01 7.85326191e-01 -1.04408085e-01 1.03360931e+02] [ 1.64863650e-01 3.02642377e-03 9.86311724e-01 4.51035068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:358.26, Y:103.40, Z:45.11 [[ 7.73004519e-01 -6.21440733e-01 -1.27575192e-01 3.58257544e+02] [ 6.12602325e-01 7.83456856e-01 -1.04468880e-01 1.03398884e+02] [ 1.64870876e-01 2.60205732e-03 9.86311727e-01 4.51137591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:358.30, Y:103.44, Z:45.12 [[ 7.72199697e-01 -6.22443463e-01 -1.27560825e-01 3.58302307e+02] [ 6.13615731e-01 7.82661052e-01 -1.04486420e-01 1.03436647e+02] [ 1.64873778e-01 2.41105294e-03 9.86311728e-01 4.51228474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64863999999994 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.35, Y:103.47, Z:45.13 [[ 7.71974356e-01 -6.22725867e-01 -1.27546421e-01 3.58345991e+02] [ 6.13899058e-01 7.82436490e-01 -1.04504000e-01 1.03473171e+02] [ 1.64874317e-01 2.37378021e-03 9.86311728e-01 4.51333964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70863999999995 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:358.39, Y:103.51, Z:45.14 [[ 7.70685917e-01 -6.24324159e-01 -1.27524747e-01 3.58392368e+02] [ 6.15514674e-01 7.81162641e-01 -1.04530441e-01 1.03508205e+02] [ 1.64878448e-01 2.06678557e-03 9.86311728e-01 4.51428854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76863999999995 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:358.44, Y:103.54, Z:45.17 [[ 7.68884551e-01 -6.26544234e-01 -1.27510274e-01 3.58437412e+02] [ 6.17762074e-01 7.79384190e-01 -1.04548093e-01 1.03539760e+02] [ 1.64883497e-01 1.61440284e-03 9.86311729e-01 4.51698135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82863999999995 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:358.49, Y:103.58, Z:45.16 [[ 7.65988718e-01 -6.30091641e-01 -1.27459044e-01 3.58487349e+02] [ 6.21347720e-01 7.76520219e-01 -1.04610514e-01 1.03575653e+02] [ 1.64888735e-01 9.34086865e-04 9.86311732e-01 4.51628325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88863999999995 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:358.54, Y:103.61, Z:45.17 [[ 7.63595840e-01 -6.32999103e-01 -1.27410865e-01 3.58535954e+02] [ 6.24285495e-01 7.74152432e-01 -1.04669161e-01 1.03608184e+02] [ 1.64890916e-01 3.84180875e-04 9.86311735e-01 4.51726402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94863999999995 meters Centerline goodness : 0.998633 with order 1 Centerline is valid? [True, True] Translation: X:358.58, Y:103.64, Z:45.20 [[ 7.64188212e-01 -6.32294136e-01 -1.27359733e-01 3.58578406e+02] [ 6.23560424e-01 7.74728174e-01 -1.04731341e-01 1.03643159e+02] [ 1.64890186e-01 6.17967246e-04 9.86311738e-01 4.52002729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00863999999996 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:358.63, Y:103.68, Z:45.19 [[ 7.64298871e-01 -6.32163300e-01 -1.27345191e-01 3.58627757e+02] [ 6.23424838e-01 7.74834895e-01 -1.04749020e-01 1.03679469e+02] [ 1.64889984e-01 6.69403092e-04 9.86311738e-01 4.51923878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06863999999996 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:358.67, Y:103.71, Z:45.20 [[ 7.65069462e-01 -6.31240871e-01 -1.27293681e-01 3.58674858e+02] [ 6.22479296e-01 7.75586268e-01 -1.04811580e-01 1.03712851e+02] [ 1.64888584e-01 9.50458475e-04 9.86311741e-01 4.52024200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12863999999996 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:358.72, Y:103.75, Z:45.21 [[ 7.65671680e-01 -6.30520698e-01 -1.27242003e-01 3.58720576e+02] [ 6.21738809e-01 7.76171526e-01 -1.04874281e-01 1.03748093e+02] [ 1.64887025e-01 1.18797505e-03 9.86311745e-01 4.52125675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18863999999996 meters Centerline goodness : 0.995854 with order 1 Centerline is valid? [True, True] Translation: X:358.76, Y:103.78, Z:45.24 [[ 7.65984295e-01 -6.30151199e-01 -1.27190906e-01 3.58763675e+02] [ 6.21353960e-01 7.76471279e-01 -1.04936216e-01 1.03782215e+02] [ 1.64885767e-01 1.34892050e-03 9.86311748e-01 4.52430521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24863999999997 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:358.81, Y:103.82, Z:45.23 [[ 7.66009406e-01 -6.30130248e-01 -1.27143464e-01 3.58811432e+02] [ 6.21323186e-01 7.76488138e-01 -1.04993667e-01 1.03821394e+02] [ 1.64885077e-01 1.42895471e-03 9.86311751e-01 4.52318044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30863999999997 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:358.85, Y:103.86, Z:45.24 [[ 7.66632586e-01 -6.29375053e-01 -1.27127971e-01 3.58854815e+02] [ 6.20554558e-01 7.77100014e-01 -1.05012422e-01 1.03858754e+02] [ 1.64883347e-01 1.61610269e-03 9.86311751e-01 4.52421368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36863999999997 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:358.89, Y:103.90, Z:45.25 [[ 7.68919552e-01 -6.26590904e-01 -1.27069120e-01 3.58894317e+02] [ 6.17720751e-01 7.79344926e-01 -1.05083588e-01 1.03900029e+02] [ 1.64875094e-01 2.30759321e-03 9.86311755e-01 4.52526284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42864 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:358.93, Y:103.94, Z:45.26 [[ 7.71473066e-01 -6.23456205e-01 -1.27010509e-01 3.58934686e+02] [ 6.14532042e-01 7.81852240e-01 -1.05154381e-01 1.03941245e+02] [ 1.64862603e-01 3.07174506e-03 9.86311759e-01 4.52612386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48864 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:358.97, Y:103.98, Z:45.27 [[ 7.71658246e-01 -6.23238847e-01 -1.26952318e-01 3.58973996e+02] [ 6.14300215e-01 7.82024956e-01 -1.05224589e-01 1.03984946e+02] [ 1.64859933e-01 3.21058573e-03 9.86311763e-01 4.52709610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54864 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:359.02, Y:104.03, Z:45.28 [[ 7.70754444e-01 -6.24359135e-01 -1.26938010e-01 3.59015695e+02] [ 6.15432730e-01 7.81131684e-01 -1.05241848e-01 1.04025231e+02] [ 1.64864010e-01 2.99381562e-03 9.86311764e-01 4.52808981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60864 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:359.05, Y:104.07, Z:45.29 [[ 7.68060461e-01 -6.27673104e-01 -1.26923611e-01 3.59052091e+02] [ 6.18788611e-01 7.78473605e-01 -1.05259210e-01 1.04072062e+02] [ 1.64875056e-01 2.30655207e-03 9.86311764e-01 4.52900733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.6686399999999 meters Centerline goodness : 0.992387 with order 1 Centerline is valid? [True, True] Translation: X:359.09, Y:104.11, Z:45.32 [[ 7.65996397e-01 -6.30193314e-01 -1.26909049e-01 3.59091956e+02] [ 6.21340175e-01 7.76436211e-01 -1.05276765e-01 1.04111516e+02] [ 1.64881494e-01 1.78793215e-03 9.86311764e-01 4.53224652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.7286399999999 meters Centerline goodness : 0.998830 with order 1 Centerline is valid? [True, True] Translation: X:359.14, Y:104.16, Z:45.31 [[ 7.63289776e-01 -6.33469605e-01 -1.26905388e-01 3.59135661e+02] [ 6.24660544e-01 7.73766811e-01 -1.05281177e-01 1.04156417e+02] [ 1.64887603e-01 1.08725770e-03 9.86311764e-01 4.53124269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78863999999993 meters Centerline goodness : 0.998487 with order 1 Centerline is valid? [True, True] Translation: X:359.18, Y:104.20, Z:45.32 [[ 7.60601693e-01 -6.36695402e-01 -1.26901653e-01 3.59181033e+02] [ 6.27930025e-01 7.71115302e-01 -1.05285679e-01 1.04197299e+02] [ 1.64890714e-01 3.95107658e-04 9.86311764e-01 4.53219277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84863999999993 meters Centerline goodness : 0.998683 with order 1 Centerline is valid? [True, True] Translation: X:359.23, Y:104.24, Z:45.33 [[ 7.59076013e-01 -6.38512123e-01 -1.26908929e-01 3.59227938e+02] [ 6.29773375e-01 7.69611765e-01 -1.05276908e-01 1.04238501e+02] [ 1.64891187e-01 -1.06886223e-05 9.86311764e-01 4.53331890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90863999999993 meters Centerline goodness : 0.994344 with order 1 Centerline is valid? [True, True] Translation: X:359.27, Y:104.27, Z:45.36 [[ 7.57234980e-01 -6.40682924e-01 -1.26966828e-01 3.59274929e+02] [ 6.31986092e-01 7.67805353e-01 -1.05207034e-01 1.04272568e+02] [ 1.64890161e-01 -5.74822988e-04 9.86311768e-01 4.53613468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96863999999994 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:359.33, Y:104.31, Z:45.35 [[ 7.52988611e-01 -6.45664918e-01 -1.26984116e-01 3.59326741e+02] [ 6.37041532e-01 7.63618987e-01 -1.05186164e-01 1.04308707e+02] [ 1.64882498e-01 -1.69017209e-03 9.86311769e-01 4.53531464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02863999999994 meters Centerline goodness : 0.998927 with order 1 Centerline is valid? [True, True] Translation: X:359.38, Y:104.34, Z:45.36 [[ 7.48687598e-01 -6.50647304e-01 -1.26984116e-01 3.59377829e+02] [ 6.42094648e-01 7.59374962e-01 -1.05186164e-01 1.04339042e+02] [ 1.64867653e-01 -2.78424457e-03 9.86311769e-01 4.53626613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08863999999994 meters Centerline goodness : 0.995069 with order 1 Centerline is valid? [True, True] Translation: X:359.43, Y:104.37, Z:45.39 [[ 7.48421378e-01 -6.50954880e-01 -1.26977109e-01 3.59425464e+02] [ 6.42405182e-01 7.59111108e-01 -1.05194622e-01 1.04368751e+02] [ 1.64866687e-01 -2.84084887e-03 9.86311769e-01 4.53911115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14863999999994 meters Centerline goodness : 0.994576 with order 1 Centerline is valid? [True, True] Translation: X:359.47, Y:104.40, Z:45.40 [[ 7.50992697e-01 -6.47988082e-01 -1.26970137e-01 3.59473991e+02] [ 6.39394726e-01 7.61647363e-01 -1.05203037e-01 1.04401272e+02] [ 1.64876784e-01 -2.17732324e-03 9.86311769e-01 4.54008299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20863999999995 meters Centerline goodness : 0.997025 with order 1 Centerline is valid? [True, True] Translation: X:359.52, Y:104.44, Z:45.41 [[ 7.54896250e-01 -6.43439047e-01 -1.26956072e-01 3.59521073e+02] [ 6.34778623e-01 7.65496473e-01 -1.05220007e-01 1.04435200e+02] [ 1.64887087e-01 -1.15881219e-03 9.86311769e-01 4.54078016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26863999999995 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:359.57, Y:104.47, Z:45.40 [[ 7.56152094e-01 -6.41966274e-01 -1.26938230e-01 3.59571245e+02] [ 6.33281590e-01 7.66732449e-01 -1.05241528e-01 1.04470235e+02] [ 1.64889172e-01 -8.09042696e-04 9.86311769e-01 4.54014539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32863999999995 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:359.61, Y:104.51, Z:45.42 [[ 7.57954104e-01 -6.39839841e-01 -1.26927357e-01 3.59614751e+02] [ 6.31123277e-01 7.68508211e-01 -1.05254639e-01 1.04505453e+02] [ 1.64890828e-01 -3.28623922e-04 9.86311770e-01 4.54243147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38863999999995 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:359.66, Y:104.54, Z:45.42 [[ 7.56533080e-01 -6.41522255e-01 -1.26912946e-01 3.59662091e+02] [ 6.32826247e-01 7.67104129e-01 -1.05272014e-01 1.04542432e+02] [ 1.64889784e-01 -6.72082234e-04 9.86311770e-01 4.54203997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44863999999995 meters Centerline goodness : 0.998095 with order 1 Centerline is valid? [True, True] Translation: X:359.71, Y:104.58, Z:45.44 [[ 7.59204818e-01 -6.38361113e-01 -1.26898126e-01 3.59705171e+02] [ 6.29618102e-01 7.69737025e-01 -1.05289875e-01 1.04577444e+02] [ 1.64891148e-01 3.92237386e-05 9.86311770e-01 4.54447244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50863999999996 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:359.75, Y:104.62, Z:45.44 [[ 7.56291871e-01 -6.41815137e-01 -1.26869763e-01 3.59750584e+02] [ 6.33114493e-01 7.66859104e-01 -1.05324040e-01 1.04616208e+02] [ 1.64889796e-01 -6.67370376e-04 9.86311771e-01 4.54412704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56863999999996 meters Centerline goodness : 0.998436 with order 1 Centerline is valid? [True, True] Translation: X:359.79, Y:104.65, Z:45.46 [[ 7.59406556e-01 -6.38139043e-01 -1.26807902e-01 3.59793709e+02] [ 6.29374812e-01 7.69921105e-01 -1.05398468e-01 1.04652274e+02] [ 1.64890958e-01 2.30588515e-04 9.86311776e-01 4.54625625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62863999999996 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:359.84, Y:104.69, Z:45.46 [[ 7.56142079e-01 -6.42006695e-01 -1.26793372e-01 3.59839632e+02] [ 6.33293314e-01 7.66698805e-01 -1.05415945e-01 1.04690119e+02] [ 1.64890069e-01 -5.87963377e-04 9.86311776e-01 4.54608880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68863999999996 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:359.89, Y:104.72, Z:45.47 [[ 7.52392015e-01 -6.46400382e-01 -1.26778556e-01 3.59885808e+02] [ 6.37745640e-01 7.62996868e-01 -1.05433760e-01 1.04724839e+02] [ 1.64884064e-01 -1.52495221e-03 9.86311776e-01 4.54704618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:359.93, Y:104.76, Z:45.48 [[ 7.52665232e-01 -6.46089295e-01 -1.26742541e-01 3.59930421e+02] [ 6.37422882e-01 7.63260548e-01 -1.05477037e-01 1.04761651e+02] [ 1.64885166e-01 -1.39969660e-03 9.86311778e-01 4.54804409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80863999999997 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:359.97, Y:104.80, Z:45.49 [[ 7.54975479e-01 -6.43391009e-01 -1.26728195e-01 3.59974565e+02] [ 6.34683834e-01 7.65537321e-01 -1.05494270e-01 1.04799754e+02] [ 1.64889228e-01 -7.86749408e-04 9.86311778e-01 4.54895727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86863999999997 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:360.02, Y:104.84, Z:45.50 [[ 7.55682869e-01 -6.42562827e-01 -1.26713909e-01 3.60018458e+02] [ 6.33841199e-01 7.66232780e-01 -1.05511427e-01 1.04837399e+02] [ 1.64890072e-01 -5.83318256e-04 9.86311778e-01 4.55000013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92864 meters Centerline goodness : 0.995748 with order 1 Centerline is valid? [True, True] Translation: X:360.06, Y:104.87, Z:45.53 [[ 7.54235984e-01 -6.44263396e-01 -1.26699474e-01 3.60061104e+02] [ 6.35562643e-01 7.64803117e-01 -1.05528759e-01 1.04871906e+02] [ 1.64888469e-01 -9.31865369e-04 9.86311779e-01 4.55279881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98864 meters Centerline goodness : 0.995994 with order 1 Centerline is valid? [True, True] Translation: X:360.11, Y:104.91, Z:45.54 [[ 7.51214241e-01 -6.47787044e-01 -1.26685076e-01 3.60108460e+02] [ 6.39132939e-01 7.61819611e-01 -1.05546040e-01 1.04905696e+02] [ 1.64882533e-01 -1.68091626e-03 9.86311779e-01 4.55358204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04864 meters Centerline goodness : 0.999708 with order 1 Centerline is valid? [True, True] Translation: X:360.16, Y:104.94, Z:45.53 [[ 7.51159189e-01 -6.47853703e-01 -1.26670647e-01 3.60157895e+02] [ 6.39197619e-01 7.61762944e-01 -1.05563354e-01 1.04941769e+02] [ 1.64882615e-01 -1.67269255e-03 9.86311779e-01 4.55294445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10864 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:360.21, Y:104.97, Z:45.54 [[ 7.53592003e-01 -6.45025047e-01 -1.26656156e-01 3.60205779e+02] [ 6.36326237e-01 7.64160734e-01 -1.05580738e-01 1.04974177e+02] [ 1.64887882e-01 -1.02983484e-03 9.86311779e-01 4.55397585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.1686399999999 meters Centerline goodness : 0.995652 with order 1 Centerline is valid? [True, True] Translation: X:360.25, Y:105.01, Z:45.56 [[ 7.57531970e-01 -6.40403270e-01 -1.26605554e-01 3.60249014e+02] [ 6.31629836e-01 7.68038833e-01 -1.05641382e-01 1.05008054e+02] [ 1.64891069e-01 5.88791860e-05 9.86311782e-01 4.55649636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.2286399999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:360.30, Y:105.05, Z:45.56 [[ 7.60549191e-01 -6.36820636e-01 -1.26587542e-01 3.60296099e+02] [ 6.27994117e-01 7.71011496e-01 -1.05662962e-01 1.05045892e+02] [ 1.64888805e-01 8.65648624e-04 9.86311783e-01 4.55585356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28863999999993 meters Centerline goodness : 0.999804 with order 1 Centerline is valid? [True, True] Translation: X:360.34, Y:105.08, Z:45.57 [[ 7.62923909e-01 -6.33976693e-01 -1.26572754e-01 3.60339765e+02] [ 6.25108236e-01 7.73350689e-01 -1.05680673e-01 1.05083399e+02] [ 1.64884210e-01 1.50464077e-03 9.86311783e-01 4.55683148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34863999999993 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:360.38, Y:105.12, Z:45.58 [[ 7.63251852e-01 -6.33592147e-01 -1.26521151e-01 3.60384084e+02] [ 6.24708201e-01 7.73665435e-01 -1.05742417e-01 1.05121425e+02] [ 1.64882606e-01 1.66929486e-03 9.86311786e-01 4.55774572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40863999999993 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:360.43, Y:105.16, Z:45.59 [[ 7.62882855e-01 -6.34046730e-01 -1.26469337e-01 3.60428185e+02] [ 6.25158722e-01 7.73292966e-01 -1.05804352e-01 1.05159251e+02] [ 1.64882752e-01 1.65291754e-03 9.86311789e-01 4.55865677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46863999999994 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:360.47, Y:105.20, Z:45.60 [[ 7.62880989e-01 -6.34059176e-01 -1.26418189e-01 3.60472722e+02] [ 6.25161216e-01 7.73282591e-01 -1.05865431e-01 1.05196694e+02] [ 1.64881932e-01 1.73097625e-03 9.86311793e-01 4.55967936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52863999999994 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:360.52, Y:105.23, Z:45.61 [[ 7.61559444e-01 -6.35656171e-01 -1.26366314e-01 3.60515927e+02] [ 6.26769754e-01 7.71970906e-01 -1.05927316e-01 1.05234375e+02] [ 1.64884470e-01 1.46736451e-03 9.86311796e-01 4.56065291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58863999999994 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:360.56, Y:105.27, Z:45.62 [[ 7.59916483e-01 -6.37631096e-01 -1.26307262e-01 3.60561401e+02] [ 6.28760040e-01 7.70341030e-01 -1.05997684e-01 1.05270173e+02] [ 1.64887085e-01 1.13242803e-03 9.86311800e-01 4.56168230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64863999999994 meters Centerline goodness : 0.999464 with order 1 Centerline is valid? [True, True] Translation: X:360.61, Y:105.31, Z:45.63 [[ 7.57298075e-01 -6.40748925e-01 -1.26255459e-01 3.60606519e+02] [ 6.31910505e-01 7.67750303e-01 -1.06059352e-01 1.05305802e+02] [ 1.64890082e-01 5.36392187e-04 9.86311803e-01 4.56269985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70863999999995 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:360.65, Y:105.34, Z:45.64 [[ 7.55105580e-01 -6.43334920e-01 -1.26236856e-01 3.60652844e+02] [ 6.34528595e-01 7.65584862e-01 -1.06081489e-01 1.05340267e+02] [ 1.64890952e-01 1.82911834e-06 9.86311804e-01 4.56367183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76863999999995 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:360.70, Y:105.37, Z:45.65 [[ 7.54582169e-01 -6.43958998e-01 -1.26184623e-01 3.60698772e+02] [ 6.35150954e-01 7.65060001e-01 -1.06143585e-01 1.05374873e+02] [ 1.64890925e-01 -5.22270227e-05 9.86311807e-01 4.56454932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82863999999995 meters Centerline goodness : 0.999659 with order 1 Centerline is valid? [True, True] Translation: X:360.74, Y:105.41, Z:45.66 [[ 7.55277892e-01 -6.43154571e-01 -1.26124952e-01 3.60744214e+02] [ 6.34323530e-01 7.65736346e-01 -1.06214443e-01 1.05410904e+02] [ 1.64890764e-01 2.17395822e-04 9.86311811e-01 4.56554160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88863999999995 meters Centerline goodness : 0.993457 with order 1 Centerline is valid? [True, True] Translation: X:360.79, Y:105.44, Z:45.69 [[ 7.58347265e-01 -6.39542816e-01 -1.26073043e-01 3.60787990e+02] [ 6.30651726e-01 7.68754712e-01 -1.06276022e-01 1.05444723e+02] [ 1.64887313e-01 1.08594815e-03 9.86311814e-01 4.56850032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94863999999995 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:360.83, Y:105.48, Z:45.68 [[ 7.60842162e-01 -6.36582277e-01 -1.26024635e-01 3.60833284e+02] [ 6.27641189e-01 7.71206683e-01 -1.06333395e-01 1.05484991e+02] [ 1.64880996e-01 1.80467853e-03 9.86311817e-01 4.56758851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00863999999996 meters Centerline goodness : 0.999170 with order 1 Centerline is valid? [True, True] Translation: X:360.88, Y:105.52, Z:45.69 [[ 7.62781104e-01 -6.34261408e-01 -1.26005770e-01 3.60875320e+02] [ 6.25285094e-01 7.73115131e-01 -1.06355746e-01 1.05523759e+02] [ 1.64874313e-01 2.33662407e-03 9.86311817e-01 4.56857056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06863999999996 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:360.92, Y:105.56, Z:45.70 [[ 7.63543127e-01 -6.33355586e-01 -1.25946789e-01 3.60918248e+02] [ 6.24355501e-01 7.73856454e-01 -1.06425547e-01 1.05563372e+02] [ 1.64869950e-01 2.62492455e-03 9.86311822e-01 4.56955447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12863999999996 meters Centerline goodness : 0.999414 with order 1 Centerline is valid? [True, True] Translation: X:360.96, Y:105.60, Z:45.71 [[ 7.64738517e-01 -6.31921899e-01 -1.25895651e-01 3.60959750e+02] [ 6.22892530e-01 7.75026210e-01 -1.06486007e-01 1.05602216e+02] [ 1.64863269e-01 3.01449053e-03 9.86311825e-01 4.57050137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18863999999996 meters Centerline goodness : 0.999024 with order 1 Centerline is valid? [True, True] Translation: X:361.00, Y:105.64, Z:45.71 [[ 7.65854834e-01 -6.30580204e-01 -1.25837112e-01 3.61000320e+02] [ 6.21521460e-01 7.76116665e-01 -1.06555140e-01 1.05643949e+02] [ 1.64855842e-01 3.39530292e-03 9.86311829e-01 4.57145913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24863999999997 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:361.04, Y:105.68, Z:45.72 [[ 7.63534771e-01 -6.33397600e-01 -1.25786066e-01 3.61041072e+02] [ 6.24366805e-01 7.73821204e-01 -1.06615365e-01 1.05684287e+02] [ 1.64865842e-01 2.86789430e-03 9.86311832e-01 4.57245400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30863999999997 meters Centerline goodness : 0.998633 with order 1 Centerline is valid? [True, True] Translation: X:361.08, Y:105.72, Z:45.73 [[ 7.59299104e-01 -6.38480453e-01 -1.25728206e-01 3.61083508e+02] [ 6.29507236e-01 7.69635796e-01 -1.06683556e-01 1.05723422e+02] [ 1.64880293e-01 1.85791330e-03 9.86311836e-01 4.57339161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36863999999997 meters Centerline goodness : 0.998486 with order 1 Centerline is valid? [True, True] Translation: X:361.12, Y:105.76, Z:45.74 [[ 7.57097381e-01 -6.41092546e-01 -1.25713575e-01 3.61123884e+02] [ 6.32152131e-01 7.67462458e-01 -1.06700794e-01 1.05763768e+02] [ 1.64885533e-01 1.31278726e-03 9.86311836e-01 4.57440518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42864 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:361.16, Y:105.81, Z:45.75 [[ 7.57068181e-01 -6.41131386e-01 -1.25691348e-01 3.61163683e+02] [ 6.32187157e-01 7.67429966e-01 -1.06726970e-01 1.05806170e+02] [ 1.64885317e-01 1.33913725e-03 9.86311837e-01 4.57525738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48864 meters Centerline goodness : 0.998096 with order 1 Centerline is valid? [True, True] Translation: X:361.21, Y:105.85, Z:45.76 [[ 7.55396451e-01 -6.43103114e-01 -1.25676517e-01 3.61206640e+02] [ 6.34183026e-01 7.65779025e-01 -1.06744432e-01 1.05845158e+02] [ 1.64888117e-01 9.32451196e-04 9.86311837e-01 4.57622894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54864 meters Centerline goodness : 0.990591 with order 1 Centerline is valid? [True, True] Translation: X:361.25, Y:105.88, Z:45.79 [[ 7.53478638e-01 -6.45351929e-01 -1.25661569e-01 3.61249618e+02] [ 6.36459895e-01 7.63885248e-01 -1.06762026e-01 1.05879767e+02] [ 1.64890098e-01 4.64357076e-04 9.86311837e-01 4.57886602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60864 meters Centerline goodness : 0.997708 with order 1 Centerline is valid? [True, True] Translation: X:361.30, Y:105.92, Z:45.78 [[ 7.47292064e-01 -6.52508607e-01 -1.25646682e-01 3.61298808e+02] [ 6.43713281e-01 7.57780536e-01 -1.06779543e-01 1.05916230e+02] [ 1.64887181e-01 -1.08493242e-03 9.86311837e-01 4.57811600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.6686399999999 meters Centerline goodness : 0.997218 with order 1 Centerline is valid? [True, True] Translation: X:361.34, Y:105.95, Z:45.79 [[ 7.47336126e-01 -6.52461021e-01 -1.25631729e-01 3.61344240e+02] [ 6.43662070e-01 7.57821557e-01 -1.06797134e-01 1.05951476e+02] [ 1.64887399e-01 -1.05102274e-03 9.86311838e-01 4.57920825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.7286399999999 meters Centerline goodness : 0.997754 with order 1 Centerline is valid? [True, True] Translation: X:361.39, Y:105.99, Z:45.80 [[ 7.51612804e-01 -6.47532643e-01 -1.25617158e-01 3.61388790e+02] [ 6.38662069e-01 7.62037711e-01 -1.06814270e-01 1.05987740e+02] [ 1.64890738e-01 5.60585980e-05 9.86311838e-01 4.58029700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78863999999993 meters Centerline goodness : 0.997706 with order 1 Centerline is valid? [True, True] Translation: X:361.43, Y:106.02, Z:45.81 [[ 7.52642641e-01 -6.46338271e-01 -1.25602130e-01 3.61433664e+02] [ 6.37448205e-01 7.63050931e-01 -1.06831938e-01 1.06024802e+02] [ 1.64890392e-01 3.41419300e-04 9.86311838e-01 4.58117820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84863999999993 meters Centerline goodness : 0.997560 with order 1 Centerline is valid? [True, True] Translation: X:361.48, Y:106.06, Z:45.82 [[ 7.56668701e-01 -6.41623246e-01 -1.25586970e-01 3.61476907e+02] [ 6.32665366e-01 7.67018685e-01 -1.06849757e-01 1.06063553e+02] [ 1.64884840e-01 1.39534011e-03 9.86311838e-01 4.58236023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90863999999993 meters Centerline goodness : 0.997609 with order 1 Centerline is valid? [True, True] Translation: X:361.52, Y:106.10, Z:45.83 [[ 7.59909947e-01 -6.37784089e-01 -1.25572004e-01 3.61519884e+02] [ 6.28771019e-01 7.70211904e-01 -1.06867342e-01 1.06101917e+02] [ 1.64875343e-01 2.25351892e-03 9.86311839e-01 4.58349832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96863999999994 meters Centerline goodness : 0.997558 with order 1 Centerline is valid? [True, True] Translation: X:361.56, Y:106.14, Z:45.85 [[ 7.62894335e-01 -6.34214153e-01 -1.25557319e-01 3.61562430e+02] [ 6.25150043e-01 7.73151413e-01 -1.06884592e-01 1.06142003e+02] [ 1.64862540e-01 3.04948638e-03 9.86311839e-01 4.58451200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02863999999994 meters Centerline goodness : 0.996921 with order 1 Centerline is valid? [True, True] Translation: X:361.60, Y:106.18, Z:45.85 [[ 7.65548185e-01 -6.31011104e-01 -1.25542673e-01 3.61603516e+02] [ 6.21901264e-01 7.75764671e-01 -1.06901793e-01 1.06183247e+02] [ 1.64847789e-01 3.76332663e-03 9.86311839e-01 4.58548681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08863999999994 meters Centerline goodness : 0.997605 with order 1 Centerline is valid? [True, True] Translation: X:361.65, Y:106.22, Z:45.87 [[ 7.66135844e-01 -6.30300347e-01 -1.25528245e-01 3.61645188e+02] [ 6.21178257e-01 7.76341393e-01 -1.06918732e-01 1.06223084e+02] [ 1.64843686e-01 3.93885721e-03 9.86311839e-01 4.58650692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14863999999994 meters Centerline goodness : 0.996532 with order 1 Centerline is valid? [True, True] Translation: X:361.69, Y:106.26, Z:45.87 [[ 7.65353398e-01 -6.31253085e-01 -1.25513817e-01 3.61687555e+02] [ 6.22140925e-01 7.75567813e-01 -1.06935667e-01 1.06262704e+02] [ 1.64847946e-01 3.75629395e-03 9.86311840e-01 4.58749447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20863999999995 meters Centerline goodness : 0.996731 with order 1 Centerline is valid? [True, True] Translation: X:361.73, Y:106.30, Z:45.88 [[ 7.63671989e-01 -6.33289015e-01 -1.25499471e-01 3.61729214e+02] [ 6.24201324e-01 7.73908179e-01 -1.06952501e-01 1.06302984e+02] [ 1.64856911e-01 3.33969299e-03 9.86311840e-01 4.58848722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26863999999995 meters Centerline goodness : 0.996733 with order 1 Centerline is valid? [True, True] Translation: X:361.77, Y:106.34, Z:45.89 [[ 7.61663152e-01 -6.35706501e-01 -1.25485013e-01 3.61772569e+02] [ 6.26648508e-01 7.71925632e-01 -1.06969461e-01 1.06341333e+02] [ 1.64866280e-01 2.83970050e-03 9.86311840e-01 4.58946404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32863999999995 meters Centerline goodness : 0.996727 with order 1 Centerline is valid? [True, True] Translation: X:361.81, Y:106.38, Z:45.91 [[ 7.62493250e-01 -6.34713479e-01 -1.25470490e-01 3.61814154e+02] [ 6.25639321e-01 7.72741438e-01 -1.06986493e-01 1.06381888e+02] [ 1.64862016e-01 3.07720602e-03 9.86311840e-01 4.59050990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38863999999995 meters Centerline goodness : 0.996436 with order 1 Centerline is valid? [True, True] Translation: X:361.86, Y:106.42, Z:45.91 [[ 7.64375688e-01 -6.32448120e-01 -1.25455902e-01 3.61857212e+02] [ 6.23340787e-01 7.74594406e-01 -1.07003596e-01 1.06421031e+02] [ 1.64851664e-01 3.58916670e-03 9.86311841e-01 4.59149329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44863999999995 meters Centerline goodness : 0.998096 with order 1 Centerline is valid? [True, True] Translation: X:361.90, Y:106.46, Z:45.92 [[ 7.65113422e-01 -6.31558326e-01 -1.25441352e-01 3.61899087e+02] [ 6.22436315e-01 7.75319040e-01 -1.07020651e-01 1.06462096e+02] [ 1.64846852e-01 3.80368357e-03 9.86311841e-01 4.59235395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50863999999996 meters Centerline goodness : 0.998338 with order 1 Centerline is valid? [True, True] Translation: X:361.94, Y:106.50, Z:45.93 [[ 7.63594523e-01 -6.33396791e-01 -1.25426908e-01 3.61942977e+02] [ 6.24296576e-01 7.73819580e-01 -1.07037577e-01 1.06500238e+02] [ 1.64855055e-01 3.42971845e-03 9.86311841e-01 4.59334346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56863999999996 meters Centerline goodness : 0.998049 with order 1 Centerline is valid? [True, True] Translation: X:361.99, Y:106.54, Z:45.94 [[ 7.62248400e-01 -6.35018960e-01 -1.25412512e-01 3.61986240e+02] [ 6.25937733e-01 7.72490324e-01 -1.07054442e-01 1.06538499e+02] [ 1.64861552e-01 3.10165345e-03 9.86311841e-01 4.59417355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62863999999996 meters Centerline goodness : 0.998438 with order 1 Centerline is valid? [True, True] Translation: X:362.03, Y:106.58, Z:45.95 [[ 7.61319269e-01 -6.36136188e-01 -1.25394265e-01 3.62029272e+02] [ 6.27066474e-01 7.71571389e-01 -1.07075810e-01 1.06576578e+02] [ 1.64865425e-01 2.88833737e-03 9.86311842e-01 4.59520236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68863999999996 meters Centerline goodness : 0.997997 with order 1 Centerline is valid? [True, True] Translation: X:362.07, Y:106.62, Z:45.96 [[ 7.62466866e-01 -6.34763114e-01 -1.25379691e-01 3.62070469e+02] [ 6.25672134e-01 7.72700134e-01 -1.07092873e-01 1.06617202e+02] [ 1.64859510e-01 3.20818829e-03 9.86311842e-01 4.59615842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74863999999997 meters Centerline goodness : 0.998728 with order 1 Centerline is valid? [True, True] Translation: X:362.11, Y:106.66, Z:45.97 [[ 7.59883812e-01 -6.37855945e-01 -1.25365013e-01 3.62114151e+02] [ 6.28803787e-01 7.70151436e-01 -1.07110053e-01 1.06656673e+02] [ 1.64870829e-01 2.56119997e-03 9.86311842e-01 4.59715776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80863999999997 meters Centerline goodness : 0.998486 with order 1 Centerline is valid? [True, True] Translation: X:362.16, Y:106.70, Z:45.98 [[ 7.57323895e-01 -6.40894661e-01 -1.25357695e-01 3.62157736e+02] [ 6.31882287e-01 7.67626457e-01 -1.07118617e-01 1.06698006e+02] [ 1.64879633e-01 1.91218194e-03 9.86311842e-01 4.59825406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86863999999997 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:362.20, Y:106.74, Z:45.99 [[ 7.58156507e-01 -6.39908051e-01 -1.25365059e-01 3.62201197e+02] [ 6.30883695e-01 7.68448575e-01 -1.07109998e-01 1.06741725e+02] [ 1.64877151e-01 2.11537060e-03 9.86311842e-01 4.59925704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92864 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:362.24, Y:106.79, Z:46.00 [[ 7.57493364e-01 -6.40682821e-01 -1.25416614e-01 3.62244134e+02] [ 6.31678988e-01 7.67803386e-01 -1.07049598e-01 1.06786026e+02] [ 1.64880139e-01 1.86631967e-03 9.86311845e-01 4.60022306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98864 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:362.29, Y:106.83, Z:46.01 [[ 7.54528977e-01 -6.44161364e-01 -1.25467765e-01 3.62290697e+02] [ 6.35215035e-01 7.64888934e-01 -1.06989613e-01 1.06826643e+02] [ 1.64887480e-01 1.02775227e-03 9.86311849e-01 4.60127738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04864 meters Centerline goodness : 0.999462 with order 1 Centerline is valid? [True, True] Translation: X:362.34, Y:106.87, Z:46.02 [[ 7.52486150e-01 -6.46536596e-01 -1.25519020e-01 3.62336607e+02] [ 6.37633003e-01 7.62882852e-01 -1.06929449e-01 1.06869187e+02] [ 1.64890110e-01 4.27860182e-04 9.86311852e-01 4.60223982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1086399999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:362.38, Y:106.91, Z:46.03 [[ 7.49271046e-01 -6.50248422e-01 -1.25578220e-01 3.62384107e+02] [ 6.41407988e-01 7.59721501e-01 -1.06859880e-01 1.06909418e+02] [ 1.64889942e-01 -4.79858878e-04 9.86311856e-01 4.60327374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.1686399999999 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:362.43, Y:106.95, Z:46.04 [[ 7.47099329e-01 -6.52731186e-01 -1.25636743e-01 3.62431434e+02] [ 6.43937054e-01 7.57588772e-01 -1.06791030e-01 1.06949818e+02] [ 1.64886822e-01 -1.11864714e-03 9.86311860e-01 4.60432800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.2286399999999 meters Centerline goodness : 0.993056 with order 1 Centerline is valid? [True, True] Translation: X:362.48, Y:106.99, Z:46.07 [[ 7.46369185e-01 -6.53554805e-01 -1.25694698e-01 3.62476652e+02] [ 6.44783738e-01 7.56877917e-01 -1.06722773e-01 1.06987801e+02] [ 1.64884723e-01 -1.39130810e-03 9.86311864e-01 4.60681940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28863999999993 meters Centerline goodness : 0.999071 with order 1 Centerline is valid? [True, True] Translation: X:362.52, Y:107.03, Z:46.06 [[ 7.44364615e-01 -6.55827452e-01 -1.25744477e-01 3.62524791e+02] [ 6.47098375e-01 7.54908249e-01 -1.06664091e-01 1.07031666e+02] [ 1.64878782e-01 -1.97207222e-03 9.86311867e-01 4.60642293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34863999999993 meters Centerline goodness : 0.998874 with order 1 Centerline is valid? [True, True] Translation: X:362.57, Y:107.07, Z:46.07 [[ 7.43367060e-01 -6.56946919e-01 -1.25802069e-01 3.62571828e+02] [ 6.48245215e-01 7.53933291e-01 -1.06596123e-01 1.07071145e+02] [ 1.64874363e-01 -2.31054286e-03 9.86311871e-01 4.60740599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40863999999993 meters Centerline goodness : 0.999266 with order 1 Centerline is valid? [True, True] Translation: X:362.62, Y:107.11, Z:46.08 [[ 7.43036646e-01 -6.57311239e-01 -1.25851010e-01 3.62620307e+02] [ 6.48624503e-01 7.53615182e-01 -1.06538311e-01 1.07109521e+02] [ 1.64872061e-01 -2.46817964e-03 9.86311873e-01 4.60845224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46863999999994 meters Centerline goodness : 0.998828 with order 1 Centerline is valid? [True, True] Translation: X:362.67, Y:107.15, Z:46.09 [[ 7.43380087e-01 -6.56911881e-01 -1.25908007e-01 3.62669262e+02] [ 6.48230871e-01 7.53963317e-01 -1.06470910e-01 1.07148260e+02] [ 1.64872024e-01 -2.46910325e-03 9.86311877e-01 4.60945286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52863999999994 meters Centerline goodness : 0.999169 with order 1 Centerline is valid? [True, True] Translation: X:362.72, Y:107.19, Z:46.10 [[ 7.47760699e-01 -6.51910144e-01 -1.25964683e-01 3.62718310e+02] [ 6.43169630e-01 7.58294834e-01 -1.06403816e-01 1.07186156e+02] [ 1.64884095e-01 -1.45206660e-03 9.86311881e-01 4.61044376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58863999999994 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:362.77, Y:107.22, Z:46.11 [[ 7.50198831e-01 -6.49099478e-01 -1.25982464e-01 3.62768101e+02] [ 6.40323030e-01 7.60703047e-01 -1.06382759e-01 1.07223456e+02] [ 1.64888238e-01 -8.61251101e-04 9.86311881e-01 4.61138820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64863999999994 meters Centerline goodness : 0.998536 with order 1 Centerline is valid? [True, True] Translation: X:362.82, Y:107.26, Z:46.12 [[ 7.54008745e-01 -6.44658562e-01 -1.26040278e-01 3.62818921e+02] [ 6.35831698e-01 7.64470626e-01 -1.06314219e-01 1.07259021e+02] [ 1.64890462e-01 2.14465638e-05 9.86311885e-01 4.61235984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70863999999995 meters Centerline goodness : 0.998730 with order 1 Centerline is valid? [True, True] Translation: X:362.87, Y:107.30, Z:46.13 [[ 7.55025977e-01 -6.43457001e-01 -1.26090688e-01 3.62867231e+02] [ 6.34623477e-01 7.65482231e-01 -1.06254398e-01 1.07298186e+02] [ 1.64890318e-01 2.04719817e-04 9.86311888e-01 4.61343326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76863999999995 meters Centerline goodness : 0.998584 with order 1 Centerline is valid? [True, True] Translation: X:362.92, Y:107.34, Z:46.14 [[ 7.55948657e-01 -6.42361284e-01 -1.26149154e-01 3.62915376e+02] [ 6.33524191e-01 7.66401890e-01 -1.06184942e-01 1.07335427e+02] [ 1.64890045e-01 3.51823255e-04 9.86311892e-01 4.61449350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82863999999995 meters Centerline goodness : 0.993356 with order 1 Centerline is valid? [True, True] Translation: X:362.96, Y:107.37, Z:46.17 [[ 7.58364165e-01 -6.39506326e-01 -1.26156460e-01 3.62961145e+02] [ 6.30631325e-01 7.68785233e-01 -1.06176261e-01 1.07371376e+02] [ 1.64887614e-01 9.62056267e-04 9.86311892e-01 4.61675269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88863999999995 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:363.01, Y:107.41, Z:46.16 [[ 7.57629854e-01 -6.40373939e-01 -1.26167442e-01 3.63008508e+02] [ 6.31513045e-01 7.68062919e-01 -1.06163209e-01 1.07409193e+02] [ 1.64888686e-01 7.56031152e-04 9.86311893e-01 4.61643767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94863999999995 meters Centerline goodness : 0.993852 with order 1 Centerline is valid? [True, True] Translation: X:363.05, Y:107.45, Z:46.19 [[ 7.59309690e-01 -6.38384192e-01 -1.26152361e-01 3.63052528e+02] [ 6.29492983e-01 7.69716931e-01 -1.06181127e-01 1.07446068e+02] [ 1.64885961e-01 1.21233208e-03 9.86311893e-01 4.61867366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00863999999996 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:363.10, Y:107.48, Z:46.18 [[ 7.58723274e-01 -6.39081040e-01 -1.26152361e-01 3.63098512e+02] [ 6.30199388e-01 7.69138674e-01 -1.06181127e-01 1.07484768e+02] [ 1.64887005e-01 1.06095106e-03 9.86311893e-01 4.61832823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06863999999996 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:363.14, Y:107.52, Z:46.19 [[ 7.60246817e-01 -6.37270843e-01 -1.26137423e-01 3.63142281e+02] [ 6.28361449e-01 7.70638495e-01 -1.06198870e-01 1.07522036e+02] [ 1.64883797e-01 1.47745940e-03 9.86311893e-01 4.61941684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12863999999996 meters Centerline goodness : 0.998878 with order 1 Centerline is valid? [True, True] Translation: X:363.19, Y:107.56, Z:46.20 [[ 7.58838641e-01 -6.38949870e-01 -1.26122882e-01 3.63185922e+02] [ 6.30060599e-01 7.69247538e-01 -1.06216136e-01 1.07559789e+02] [ 1.64886503e-01 1.13585038e-03 9.86311893e-01 4.62027802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18863999999996 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:363.23, Y:107.60, Z:46.21 [[ 7.56924500e-01 -6.41219904e-01 -1.26104461e-01 3.63230097e+02] [ 6.32358208e-01 7.67356882e-01 -1.06238001e-01 1.07597927e+02] [ 1.64889047e-01 6.70955071e-04 9.86311894e-01 4.62128142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24863999999997 meters Centerline goodness : 0.998974 with order 1 Centerline is valid? [True, True] Translation: X:363.28, Y:107.64, Z:46.22 [[ 7.55683894e-01 -6.42682949e-01 -1.26097106e-01 3.63275195e+02] [ 6.33839993e-01 7.66132166e-01 -1.06246731e-01 1.07639745e+02] [ 1.64890011e-01 3.63554443e-04 9.86311894e-01 4.62235852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30863999999997 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:363.32, Y:107.68, Z:46.23 [[ 7.55136696e-01 -6.43315774e-01 -1.26148268e-01 3.63322153e+02] [ 6.34491726e-01 7.65600936e-01 -1.06185952e-01 1.07678641e+02] [ 1.64890330e-01 1.44876593e-04 9.86311897e-01 4.62325326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36863999999997 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:363.37, Y:107.72, Z:46.24 [[ 7.56340927e-01 -6.41898091e-01 -1.26155632e-01 3.63367023e+02] [ 6.33055888e-01 7.66789831e-01 -1.06177202e-01 1.07721927e+02] [ 1.64889799e-01 4.42597122e-04 9.86311897e-01 4.62429511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42864 meters Centerline goodness : 0.990281 with order 1 Centerline is valid? [True, True] Translation: X:363.41, Y:107.76, Z:46.27 [[ 7.55708582e-01 -6.42630936e-01 -1.26214179e-01 3.63408876e+02] [ 6.33810493e-01 7.66175857e-01 -1.06107561e-01 1.07760485e+02] [ 1.64890259e-01 1.90523594e-04 9.86311901e-01 4.62725738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48864 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:363.46, Y:107.80, Z:46.26 [[ 7.50475457e-01 -6.48733879e-01 -1.26217839e-01 3.63455558e+02] [ 6.39999282e-01 7.61014473e-01 -1.06103208e-01 1.07803285e+02] [ 1.64886348e-01 -1.15147223e-03 9.86311901e-01 4.62630920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54864 meters Centerline goodness : 0.998584 with order 1 Centerline is valid? [True, True] Translation: X:363.51, Y:107.84, Z:46.27 [[ 7.42552903e-01 -6.57786673e-01 -1.26221545e-01 3.63505864e+02] [ 6.49181267e-01 7.53197668e-01 -1.06098799e-01 1.07839761e+02] [ 1.64860149e-01 -3.15669184e-03 9.86311901e-01 4.62736484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6086399999999 meters Centerline goodness : 0.998971 with order 1 Centerline is valid? [True, True] Translation: X:363.56, Y:107.87, Z:46.28 [[ 7.34882950e-01 -6.66333853e-01 -1.26278451e-01 3.63557398e+02] [ 6.57863804e-01 7.45635727e-01 -1.06031028e-01 1.07873865e+02] [ 1.64809788e-01 -5.15362714e-03 9.86311905e-01 4.62841418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.6686399999999 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:363.61, Y:107.91, Z:46.30 [[ 7.32897889e-01 -6.68507546e-01 -1.26326343e-01 3.63611161e+02] [ 6.60079201e-01 7.43683382e-01 -1.05973938e-01 1.07906780e+02] [ 1.64791180e-01 -5.71731633e-03 9.86311908e-01 4.62951566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.7286399999999 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:363.66, Y:107.94, Z:46.30 [[ 7.34235484e-01 -6.67027859e-01 -1.26380734e-01 3.63663931e+02] [ 6.58588923e-01 7.45012689e-01 -1.05909035e-01 1.07937474e+02] [ 1.64799527e-01 -5.47077959e-03 9.86311911e-01 4.63047310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78863999999993 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:363.71, Y:107.97, Z:46.31 [[ 7.38254295e-01 -6.62575883e-01 -1.26387480e-01 3.63714398e+02] [ 6.54073310e-01 7.48981366e-01 -1.05900984e-01 1.07968317e+02] [ 1.64829305e-01 -4.48482072e-03 9.86311911e-01 4.63139328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84863999999993 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:363.76, Y:108.00, Z:46.32 [[ 7.43127070e-01 -6.57108689e-01 -1.26373768e-01 3.63761897e+02] [ 6.48524390e-01 7.53788851e-01 -1.05917344e-01 1.08002228e+02] [ 1.64858345e-01 -3.24642581e-03 9.86311912e-01 4.63221515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90863999999993 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:363.80, Y:108.04, Z:46.33 [[ 7.51257418e-01 -6.47800484e-01 -1.26359899e-01 3.63803699e+02] [ 6.39081254e-01 7.61809137e-01 -1.05933888e-01 1.08042721e+02] [ 1.64886149e-01 -1.17062360e-03 9.86311912e-01 4.63336555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:363.84, Y:108.09, Z:46.34 [[ 7.59066107e-01 -6.38635595e-01 -1.26345640e-01 3.63842199e+02] [ 6.29786122e-01 7.69508836e-01 -1.05950891e-01 1.08086165e+02] [ 1.64888097e-01 8.52999780e-04 9.86311912e-01 4.63435601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02863999999994 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:363.88, Y:108.13, Z:46.35 [[ 7.66963515e-01 -6.29133783e-01 -1.26323591e-01 3.63879612e+02] [ 6.20150631e-01 7.77291473e-01 -1.05977173e-01 1.08131889e+02] [ 1.64864070e-01 2.94097030e-03 9.86311913e-01 4.63531335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08863999999994 meters Centerline goodness : 0.995753 with order 1 Centerline is valid? [True, True] Translation: X:363.91, Y:108.18, Z:46.38 [[ 7.71719219e-01 -6.23294030e-01 -1.26309141e-01 3.63914032e+02] [ 6.14229927e-01 7.81976205e-01 -1.05994393e-01 1.08177550e+02] [ 1.64836415e-01 4.21505586e-03 9.86311913e-01 4.63800036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14863999999994 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:363.95, Y:108.22, Z:46.37 [[ 7.72853929e-01 -6.21888693e-01 -1.26298287e-01 3.63953238e+02] [ 6.12803830e-01 7.83092532e-01 -1.06007324e-01 1.08224984e+02] [ 1.64828002e-01 4.53210305e-03 9.86311913e-01 4.63742776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20863999999995 meters Centerline goodness : 0.994965 with order 1 Centerline is valid? [True, True] Translation: X:363.99, Y:108.27, Z:46.40 [[ 7.70907633e-01 -6.24302665e-01 -1.26283821e-01 3.63993300e+02] [ 6.15247047e-01 7.81172110e-01 -1.06024555e-01 1.08270055e+02] [ 1.64840811e-01 4.03939037e-03 9.86311913e-01 4.63975690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26863999999995 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:364.04, Y:108.32, Z:46.40 [[ 7.67450395e-01 -6.28537589e-01 -1.26334439e-01 3.64037020e+02] [ 6.19548547e-01 7.77773222e-01 -1.05964207e-01 1.08315961e+02] [ 1.64862031e-01 3.05195452e-03 9.86311916e-01 4.63956927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32863999999995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:364.08, Y:108.36, Z:46.41 [[ 7.64149622e-01 -6.32536122e-01 -1.26385954e-01 3.64081297e+02] [ 6.23611264e-01 7.74527987e-01 -1.05902729e-01 1.08359757e+02] [ 1.64876760e-01 2.10982538e-03 9.86311920e-01 4.64057001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38863999999995 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:364.13, Y:108.40, Z:46.42 [[ 7.62536202e-01 -6.34468381e-01 -1.26445303e-01 3.64127322e+02] [ 6.25581575e-01 7.72947164e-01 -1.05831822e-01 1.08402058e+02] [ 1.64882483e-01 1.59874400e-03 9.86311924e-01 4.64152770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44863999999995 meters Centerline goodness : 0.993159 with order 1 Centerline is valid? [True, True] Translation: X:364.17, Y:108.44, Z:46.44 [[ 7.60238804e-01 -6.37207749e-01 -1.26503936e-01 3.64170119e+02] [ 6.28370125e-01 7.70691541e-01 -1.05761691e-01 1.08442058e+02] [ 1.64887682e-01 9.12847494e-04 9.86311928e-01 4.64406150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50863999999996 meters Centerline goodness : 0.999121 with order 1 Centerline is valid? [True, True] Translation: X:364.22, Y:108.48, Z:46.44 [[ 7.55078449e-01 -6.43304259e-01 -1.26554996e-01 3.64218514e+02] [ 6.34561271e-01 7.65610466e-01 -1.05700557e-01 1.08482853e+02] [ 1.64889448e-01 -4.94686232e-04 9.86311931e-01 4.64359778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56863999999996 meters Centerline goodness : 0.999220 with order 1 Centerline is valid? [True, True] Translation: X:364.27, Y:108.52, Z:46.45 [[ 7.54023450e-01 -6.44531059e-01 -1.26603122e-01 3.64266568e+02] [ 6.35814888e-01 7.64577668e-01 -1.05642884e-01 1.08522747e+02] [ 1.64888039e-01 -8.38938055e-04 9.86311934e-01 4.64472278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62863999999996 meters Centerline goodness : 0.999366 with order 1 Centerline is valid? [True, True] Translation: X:364.32, Y:108.56, Z:46.46 [[ 7.51739807e-01 -6.47181949e-01 -1.26660123e-01 3.64316439e+02] [ 6.38514510e-01 7.62334077e-01 -1.05574499e-01 1.08558594e+02] [ 1.64883238e-01 -1.50977232e-03 9.86311938e-01 4.64562138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68863999999996 meters Centerline goodness : 0.992730 with order 1 Centerline is valid? [True, True] Translation: X:364.36, Y:108.59, Z:46.48 [[ 7.53202201e-01 -6.45469700e-01 -1.26709551e-01 3.64364291e+02] [ 6.36788159e-01 7.63784914e-01 -1.05515143e-01 1.08592824e+02] [ 1.64885671e-01 -1.21290369e-03 9.86311941e-01 4.64821039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74863999999997 meters Centerline goodness : 0.999511 with order 1 Centerline is valid? [True, True] Translation: X:364.42, Y:108.63, Z:46.48 [[ 7.51748277e-01 -6.47152834e-01 -1.26758581e-01 3.64417906e+02] [ 6.38504919e-01 7.62358483e-01 -1.05456210e-01 1.08628773e+02] [ 1.64881765e-01 -1.65945374e-03 9.86311944e-01 4.64772614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80863999999997 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:364.47, Y:108.66, Z:46.49 [[ 7.54708535e-01 -6.43688265e-01 -1.26808691e-01 3.64470048e+02] [ 6.35001767e-01 7.65287172e-01 -1.05395920e-01 1.08662172e+02] [ 1.64887182e-01 -9.80542408e-04 9.86311947e-01 4.64875192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86863999999997 meters Centerline goodness : 0.997218 with order 1 Centerline is valid? [True, True] Translation: X:364.52, Y:108.70, Z:46.51 [[ 7.59536903e-01 -6.37973798e-01 -1.26858687e-01 3.64518839e+02] [ 6.29217760e-01 7.70058049e-01 -1.05335710e-01 1.08696426e+02] [ 1.64889976e-01 1.84620127e-04 9.86311950e-01 4.65114149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92864 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:364.57, Y:108.74, Z:46.51 [[ 7.61990157e-01 -6.35030900e-01 -1.26912396e-01 3.64568871e+02] [ 6.26245010e-01 7.72486384e-01 -1.05270960e-01 1.08735776e+02] [ 1.64888410e-01 7.37180303e-04 9.86311953e-01 4.65073352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98864 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:364.61, Y:108.78, Z:46.52 [[ 7.66415684e-01 -6.29672434e-01 -1.26963088e-01 3.64612827e+02] [ 6.20823293e-01 7.76858636e-01 -1.05209788e-01 1.08776077e+02] [ 1.64880074e-01 1.81278946e-03 9.86311956e-01 4.65165662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04864 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:364.66, Y:108.82, Z:46.53 [[ 7.68125285e-01 -6.27585788e-01 -1.26963088e-01 3.64655976e+02] [ 6.18708279e-01 7.78544132e-01 -1.05209788e-01 1.08817891e+02] [ 1.64874535e-01 2.26118494e-03 9.86311956e-01 4.65251649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1086399999999 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:364.70, Y:108.86, Z:46.54 [[ 7.65458602e-01 -6.30835559e-01 -1.26963088e-01 3.64700103e+02] [ 6.22002287e-01 7.75914980e-01 -1.05209788e-01 1.08860936e+02] [ 1.64882637e-01 1.56240639e-03 9.86311956e-01 4.65351539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.1686399999999 meters Centerline goodness : 0.996729 with order 1 Centerline is valid? [True, True] Translation: X:364.74, Y:108.90, Z:46.56 [[ 7.62261640e-01 -6.34684676e-01 -1.27013992e-01 3.64744346e+02] [ 6.25914448e-01 7.72770949e-01 -1.05148299e-01 1.08900218e+02] [ 1.64888737e-01 6.50622686e-04 9.86311959e-01 4.65588375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.2286399999999 meters Centerline goodness : 0.999755 with order 1 Centerline is valid? [True, True] Translation: X:364.79, Y:108.94, Z:46.55 [[ 7.58435706e-01 -6.39241581e-01 -1.27064866e-01 3.64794215e+02] [ 6.30544798e-01 7.69005868e-01 -1.05086786e-01 1.08939467e+02] [ 1.64889471e-01 -4.18519312e-04 9.86311962e-01 4.65540655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28863999999993 meters Centerline goodness : 0.993847 with order 1 Centerline is valid? [True, True] Translation: X:364.84, Y:108.97, Z:46.58 [[ 7.54881322e-01 -6.43425000e-01 -1.27115932e-01 3.64842876e+02] [ 6.34797193e-01 7.65507856e-01 -1.05024979e-01 1.08972287e+02] [ 1.64883942e-01 -1.41144176e-03 9.86311966e-01 4.65829958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34863999999993 meters Centerline goodness : 0.999609 with order 1 Centerline is valid? [True, True] Translation: X:364.90, Y:109.01, Z:46.58 [[ 7.53906811e-01 -6.44556815e-01 -1.27165373e-01 3.64896635e+02] [ 6.35955060e-01 7.64554441e-01 -1.04965082e-01 1.09007438e+02] [ 1.64880810e-01 -1.73757184e-03 9.86311969e-01 4.65765034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40863999999993 meters Centerline goodness : 0.999560 with order 1 Centerline is valid? [True, True] Translation: X:364.95, Y:109.04, Z:46.59 [[ 7.55876062e-01 -6.42236455e-01 -1.27215228e-01 3.64946574e+02] [ 6.33612185e-01 7.66505459e-01 -1.04904625e-01 1.09043057e+02] [ 1.64884741e-01 -1.31022367e-03 9.86311972e-01 4.65856937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46863999999994 meters Centerline goodness : 0.993554 with order 1 Centerline is valid? [True, True] Translation: X:364.99, Y:109.08, Z:46.61 [[ 7.59754835e-01 -6.37633403e-01 -1.27264426e-01 3.64994894e+02] [ 6.28954730e-01 7.70339856e-01 -1.04844908e-01 1.09078053e+02] [ 1.64889475e-01 -3.87136520e-04 9.86311975e-01 4.66132902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52863999999994 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:365.04, Y:109.12, Z:46.61 [[ 7.60068009e-01 -6.37248848e-01 -1.27320568e-01 3.65042517e+02] [ 6.28576245e-01 7.70657998e-01 -1.04776687e-01 1.09116722e+02] [ 1.64889437e-01 -3.93276604e-04 9.86311978e-01 4.66058627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58863999999994 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:365.09, Y:109.16, Z:46.62 [[ 7.59776276e-01 -6.37598087e-01 -1.27313352e-01 3.65088236e+02] [ 6.28928882e-01 7.70369048e-01 -1.04785455e-01 1.09156455e+02] [ 1.64889271e-01 -4.57541110e-04 9.86311979e-01 4.66157272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64863999999994 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:365.13, Y:109.20, Z:46.63 [[ 7.58124406e-01 -6.39559910e-01 -1.27320487e-01 3.65134328e+02] [ 6.30919571e-01 7.68740737e-01 -1.04776784e-01 1.09198419e+02] [ 1.64887476e-01 -8.95149852e-04 9.86311979e-01 4.66269231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70863999999995 meters Centerline goodness : 0.990572 with order 1 Centerline is valid? [True, True] Translation: X:365.18, Y:109.24, Z:46.65 [[ 7.57349706e-01 -6.40465831e-01 -1.27377164e-01 3.65178714e+02] [ 6.31849783e-01 7.67985755e-01 -1.04707837e-01 1.09237217e+02] [ 1.64885640e-01 -1.18278361e-03 9.86311982e-01 4.66538389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76863999999995 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:365.23, Y:109.28, Z:46.65 [[ 7.56685492e-01 -6.41239190e-01 -1.27433778e-01 3.65227850e+02] [ 6.32645619e-01 7.67339705e-01 -1.04638892e-01 1.09279046e+02] [ 1.64883556e-01 -1.44168951e-03 9.86311986e-01 4.66475159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82863999999995 meters Centerline goodness : 0.998627 with order 1 Centerline is valid? [True, True] Translation: X:365.28, Y:109.32, Z:46.66 [[ 7.56479119e-01 -6.41472792e-01 -1.27483330e-01 3.65277248e+02] [ 6.32892687e-01 7.67144176e-01 -1.04578488e-01 1.09317688e+02] [ 1.64882349e-01 -1.57182507e-03 9.86311989e-01 4.66575315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88863999999995 meters Centerline goodness : 0.990091 with order 1 Centerline is valid? [True, True] Translation: X:365.32, Y:109.35, Z:46.68 [[ 7.57047692e-01 -6.40790400e-01 -1.27540018e-01 3.65324473e+02] [ 6.32212332e-01 7.67714382e-01 -1.04509309e-01 1.09353271e+02] [ 1.64882868e-01 -1.51384112e-03 9.86311993e-01 4.66844382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94863999999995 meters Centerline goodness : 0.998049 with order 1 Centerline is valid? [True, True] Translation: X:365.37, Y:109.39, Z:46.68 [[ 7.56327793e-01 -6.41636433e-01 -1.27557663e-01 3.65373783e+02] [ 6.33073929e-01 7.67006980e-01 -1.04487767e-01 1.09389715e+02] [ 1.64880776e-01 -1.72642877e-03 9.86311994e-01 4.66776694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00863999999996 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:365.42, Y:109.43, Z:46.69 [[ 7.55896052e-01 -6.42146429e-01 -1.27550468e-01 3.65421984e+02] [ 6.33589648e-01 7.66579825e-01 -1.04496550e-01 1.09428406e+02] [ 1.64879702e-01 -1.82612691e-03 9.86311994e-01 4.66864340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06863999999996 meters Centerline goodness : 0.991450 with order 1 Centerline is valid? [True, True] Translation: X:365.47, Y:109.46, Z:46.71 [[ 7.52288820e-01 -6.46359012e-01 -1.27599208e-01 3.65468759e+02] [ 6.37872140e-01 7.63028208e-01 -1.04437001e-01 1.09459533e+02] [ 1.64865592e-01 -2.82519113e-03 9.86311997e-01 4.67135449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12863999999996 meters Centerline goodness : 0.998633 with order 1 Centerline is valid? [True, True] Translation: X:365.52, Y:109.49, Z:46.71 [[ 7.46528367e-01 -6.53005069e-01 -1.27592232e-01 3.65520053e+02] [ 6.44612315e-01 7.57341466e-01 -1.04445523e-01 1.09491994e+02] [ 1.64834344e-01 -4.27597826e-03 9.86311997e-01 4.67073258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18863999999996 meters Centerline goodness : 0.998291 with order 1 Centerline is valid? [True, True] Translation: X:365.57, Y:109.52, Z:46.72 [[ 7.42745504e-01 -6.57307290e-01 -1.27578382e-01 3.65570039e+02] [ 6.48974248e-01 7.53604687e-01 -1.04462438e-01 1.09522899e+02] [ 1.64807589e-01 -5.20607797e-03 9.86311997e-01 4.67175783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24863999999997 meters Centerline goodness : 0.998097 with order 1 Centerline is valid? [True, True] Translation: X:365.62, Y:109.55, Z:46.73 [[ 7.40820923e-01 -6.59478245e-01 -1.27564902e-01 3.65622705e+02] [ 6.51174192e-01 7.51702289e-01 -1.04478897e-01 1.09550040e+02] [ 1.64792388e-01 -5.66681947e-03 9.86311997e-01 4.67257835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30863999999997 meters Centerline goodness : 0.997854 with order 1 Centerline is valid? [True, True] Translation: X:365.68, Y:109.58, Z:46.73 [[ 7.41064540e-01 -6.59207073e-01 -1.27551486e-01 3.65676566e+02] [ 6.50896225e-01 7.51940717e-01 -1.04495273e-01 1.09576099e+02] [ 1.64795179e-01 -5.58503871e-03 9.86311997e-01 4.67342584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36863999999997 meters Centerline goodness : 0.997267 with order 1 Centerline is valid? [True, True] Translation: X:365.73, Y:109.60, Z:46.74 [[ 7.43151198e-01 -6.56856389e-01 -1.27538151e-01 3.65729222e+02] [ 6.48508343e-01 7.53998850e-01 -1.04511546e-01 1.09601765e+02] [ 1.64812696e-01 -5.04167494e-03 9.86311998e-01 4.67447283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42864 meters Centerline goodness : 0.996588 with order 1 Centerline is valid? [True, True] Translation: X:365.78, Y:109.63, Z:46.75 [[ 7.44914290e-01 -6.54866755e-01 -1.27484249e-01 3.65779236e+02] [ 6.46478497e-01 7.55730872e-01 -1.04577256e-01 1.09630713e+02] [ 1.64827951e-01 -4.51473334e-03 9.86312001e-01 4.67545374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48864 meters Centerline goodness : 0.995998 with order 1 Centerline is valid? [True, True] Translation: X:365.83, Y:109.66, Z:46.76 [[ 7.45575799e-01 -6.54124222e-01 -1.27429318e-01 3.65826153e+02] [ 6.45713768e-01 7.56375126e-01 -1.04644148e-01 1.09664054e+02] [ 1.64834639e-01 -4.26272128e-03 9.86312005e-01 4.67646623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54864 meters Centerline goodness : 0.996680 with order 1 Centerline is valid? [True, True] Translation: X:365.88, Y:109.69, Z:46.77 [[ 7.48510459e-01 -6.50774867e-01 -1.27374116e-01 3.65877753e+02] [ 6.42304659e-01 7.59262978e-01 -1.04711298e-01 1.09691469e+02] [ 1.64853932e-01 -3.43548651e-03 9.86312009e-01 4.67743622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6086399999999 meters Centerline goodness : 0.995464 with order 1 Centerline is valid? [True, True] Translation: X:365.93, Y:109.72, Z:46.78 [[ 7.49718923e-01 -6.49393170e-01 -1.27318679e-01 3.65928830e+02] [ 6.40891708e-01 7.60446744e-01 -1.04778662e-01 1.09718940e+02] [ 1.64861623e-01 -3.04293989e-03 9.86312012e-01 4.67847027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.6686399999999 meters Centerline goodness : 0.995606 with order 1 Centerline is valid? [True, True] Translation: X:365.98, Y:109.75, Z:46.79 [[ 7.51816001e-01 -6.46975250e-01 -1.27262428e-01 3.65978985e+02] [ 6.38427726e-01 7.62507153e-01 -1.04846940e-01 1.09748888e+02] [ 1.64871887e-01 -2.42225508e-03 9.86312016e-01 4.67935310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.7286399999999 meters Centerline goodness : 0.995953 with order 1 Centerline is valid? [True, True] Translation: X:366.03, Y:109.78, Z:46.80 [[ 7.52248449e-01 -6.46482072e-01 -1.27213215e-01 3.66027070e+02] [ 6.37917447e-01 7.62925902e-01 -1.04906619e-01 1.09780520e+02] [ 1.64874505e-01 -2.23568754e-03 9.86312019e-01 4.68037425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78863999999993 meters Centerline goodness : 0.993943 with order 1 Centerline is valid? [True, True] Translation: X:366.08, Y:109.81, Z:46.81 [[ 7.55738073e-01 -6.42410653e-01 -1.27155489e-01 3.66076432e+02] [ 6.33776730e-01 7.66359564e-01 -1.04976542e-01 1.09810908e+02] [ 1.64884874e-01 -1.25342024e-03 9.86312023e-01 4.68142599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84863999999993 meters Centerline goodness : 0.994872 with order 1 Centerline is valid? [True, True] Translation: X:366.12, Y:109.85, Z:46.82 [[ 7.59285565e-01 -6.38217456e-01 -1.27137363e-01 3.66120702e+02] [ 6.29521195e-01 7.69856079e-01 -1.04998489e-01 1.09847504e+02] [ 1.64889341e-01 -3.11827797e-04 9.86312024e-01 4.68214950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90863999999993 meters Centerline goodness : 0.995597 with order 1 Centerline is valid? [True, True] Translation: X:366.17, Y:109.88, Z:46.83 [[ 7.63370512e-01 -6.33337760e-01 -1.27077704e-01 3.66165262e+02] [ 6.24561913e-01 7.73875039e-01 -1.05070646e-01 1.09883454e+02] [ 1.64887470e-01 8.39939162e-04 9.86312028e-01 4.68318624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96863999999994 meters Centerline goodness : 0.995754 with order 1 Centerline is valid? [True, True] Translation: X:366.21, Y:109.92, Z:46.84 [[ 7.63968006e-01 -6.32628778e-01 -1.27018564e-01 3.66209327e+02] [ 6.23831301e-01 7.74454420e-01 -1.05142091e-01 1.09920798e+02] [ 1.64886001e-01 1.08703745e-03 9.86312032e-01 4.68411325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02863999999994 meters Centerline goodness : 0.994435 with order 1 Centerline is valid? [True, True] Translation: X:366.25, Y:109.96, Z:46.85 [[ 7.64444267e-01 -6.32063565e-01 -1.26966975e-01 3.66252852e+02] [ 6.23247993e-01 7.74915469e-01 -1.05204353e-01 1.09957595e+02] [ 1.64884511e-01 1.29095208e-03 9.86312035e-01 4.68506775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08863999999994 meters Centerline goodness : 0.994339 with order 1 Centerline is valid? [True, True] Translation: X:366.30, Y:110.00, Z:46.86 [[ 7.65473182e-01 -6.30828745e-01 -1.26909031e-01 3.66295456e+02] [ 6.21984699e-01 7.75920341e-01 -1.05274207e-01 1.09996874e+02] [ 1.64881294e-01 1.64910655e-03 9.86312040e-01 4.68618412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14863999999994 meters Centerline goodness : 0.994087 with order 1 Centerline is valid? [True, True] Translation: X:366.34, Y:110.04, Z:46.87 [[ 7.64986443e-01 -6.31429009e-01 -1.26858771e-01 3.66338612e+02] [ 6.22583123e-01 7.75432040e-01 -1.05334737e-01 1.10035819e+02] [ 1.64881764e-01 1.59951607e-03 9.86312043e-01 4.68706347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20863999999995 meters Centerline goodness : 0.994628 with order 1 Centerline is valid? [True, True] Translation: X:366.38, Y:110.07, Z:46.88 [[ 7.62675113e-01 -6.34229040e-01 -1.26807717e-01 3.66382043e+02] [ 6.25411290e-01 7.73144467e-01 -1.05396164e-01 1.10074491e+02] [ 1.64885993e-01 1.07605319e-03 9.86312046e-01 4.68792863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26863999999995 meters Centerline goodness : 0.994286 with order 1 Centerline is valid? [True, True] Translation: X:366.43, Y:110.11, Z:46.89 [[ 7.59458147e-01 -6.38087826e-01 -1.26756655e-01 3.66427860e+02] [ 6.29313025e-01 7.69963521e-01 -1.05457539e-01 1.10109531e+02] [ 1.64889172e-01 3.20973254e-04 9.86312049e-01 4.68899569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32863999999995 meters Centerline goodness : 0.994721 with order 1 Centerline is valid? [True, True] Translation: X:366.47, Y:110.15, Z:46.90 [[ 7.58536496e-01 -6.39193406e-01 -1.26705070e-01 3.66471329e+02] [ 6.30423568e-01 7.69046009e-01 -1.05519482e-01 1.10146410e+02] [ 1.64889386e-01 1.62515872e-04 9.86312052e-01 4.68985831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38863999999995 meters Centerline goodness : 0.994386 with order 1 Centerline is valid? [True, True] Translation: X:366.52, Y:110.18, Z:46.91 [[ 7.59021929e-01 -6.38628781e-01 -1.26645144e-01 3.66515733e+02] [ 6.29839129e-01 7.69514871e-01 -1.05591358e-01 1.10184478e+02] [ 1.64889002e-01 3.80089166e-04 9.86312056e-01 4.69088067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44863999999995 meters Centerline goodness : 0.995169 with order 1 Centerline is valid? [True, True] Translation: X:366.56, Y:110.22, Z:46.92 [[ 7.59558274e-01 -6.38000424e-01 -1.26596554e-01 3.66558696e+02] [ 6.29192386e-01 7.70035783e-01 -1.05649583e-01 1.10223508e+02] [ 1.64888355e-01 5.93426868e-04 9.86312059e-01 4.69187990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50863999999996 meters Centerline goodness : 0.995747 with order 1 Centerline is valid? [True, True] Translation: X:366.60, Y:110.26, Z:46.93 [[ 7.59317879e-01 -6.38296714e-01 -1.26545101e-01 3.66600146e+02] [ 6.29482498e-01 7.69790187e-01 -1.05711177e-01 1.10263573e+02] [ 1.64888274e-01 6.10460215e-04 9.86312062e-01 4.69271782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56863999999996 meters Centerline goodness : 0.996531 with order 1 Centerline is valid? [True, True] Translation: X:366.64, Y:110.31, Z:46.94 [[ 7.56680348e-01 -6.41432860e-01 -1.26486113e-01 3.66639829e+02] [ 6.32650254e-01 7.67179174e-01 -1.05781712e-01 1.10307149e+02] [ 1.64889378e-01 2.14710344e-05 9.86312067e-01 4.69370135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62863999999996 meters Centerline goodness : 0.997073 with order 1 Centerline is valid? [True, True] Translation: X:366.68, Y:110.34, Z:46.95 [[ 7.52065086e-01 -6.46848112e-01 -1.26434279e-01 3.66684394e+02] [ 6.38130686e-01 7.62618091e-01 -1.05843630e-01 1.10344557e+02] [ 1.64885821e-01 -1.08029474e-03 9.86312070e-01 4.69464125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68863999999996 meters Centerline goodness : 0.996484 with order 1 Centerline is valid? [True, True] Translation: X:366.73, Y:110.38, Z:46.96 [[ 7.48232327e-01 -6.51287895e-01 -1.26382209e-01 3.66729377e+02] [ 6.42622585e-01 7.58828164e-01 -1.05905769e-01 1.10380455e+02] [ 1.64877525e-01 -1.97394149e-03 9.86312073e-01 4.69572695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74863999999997 meters Centerline goodness : 0.996732 with order 1 Centerline is valid? [True, True] Translation: X:366.77, Y:110.42, Z:46.97 [[ 7.45771787e-01 -6.54113884e-01 -1.26330788e-01 3.66773498e+02] [ 6.45478339e-01 7.56391892e-01 -1.05967072e-01 1.10416661e+02] [ 1.64870117e-01 -2.51653489e-03 9.86312076e-01 4.69661780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80863999999997 meters Centerline goodness : 0.996392 with order 1 Centerline is valid? [True, True] Translation: X:366.82, Y:110.45, Z:46.98 [[ 7.45793456e-01 -6.54100455e-01 -1.26272383e-01 3.66818927e+02] [ 6.45452945e-01 7.56403815e-01 -1.06036623e-01 1.10451526e+02] [ 1.64871516e-01 -2.42146196e-03 9.86312080e-01 4.69767811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86863999999997 meters Centerline goodness : 0.996290 with order 1 Centerline is valid? [True, True] Translation: X:366.86, Y:110.49, Z:46.99 [[ 7.47560181e-01 -6.52091663e-01 -1.26215049e-01 3.66864766e+02] [ 6.43404123e-01 7.58137785e-01 -1.06104825e-01 1.10485517e+02] [ 1.64878470e-01 -1.88754096e-03 9.86312084e-01 4.69856153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92864 meters Centerline goodness : 0.995216 with order 1 Centerline is valid? [True, True] Translation: X:366.91, Y:110.52, Z:47.00 [[ 7.49954612e-01 -6.49347710e-01 -1.26157170e-01 3.66909064e+02] [ 6.40609894e-01 7.60490717e-01 -1.06173600e-01 1.10522568e+02] [ 1.64884940e-01 -1.19215052e-03 9.86312088e-01 4.69953890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98864 meters Centerline goodness : 0.996195 with order 1 Centerline is valid? [True, True] Translation: X:366.95, Y:110.56, Z:47.00 [[ 7.54644231e-01 -6.43901719e-01 -1.26105754e-01 3.66953476e+02] [ 6.35077659e-01 7.65108208e-01 -1.06234634e-01 1.10560937e+02] [ 1.64889210e-01 8.24063759e-05 9.86312091e-01 4.70020947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04864 meters Centerline goodness : 0.994580 with order 1 Centerline is valid? [True, True] Translation: X:367.00, Y:110.60, Z:47.01 [[ 7.55902376e-01 -6.42434454e-01 -1.26053835e-01 3.66999869e+02] [ 6.33579813e-01 7.66340484e-01 -1.06296203e-01 1.10596766e+02] [ 1.64888500e-01 4.84387097e-04 9.86312095e-01 4.70111145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1086399999999 meters Centerline goodness : 0.995264 with order 1 Centerline is valid? [True, True] Translation: X:367.05, Y:110.63, Z:47.02 [[ 7.56778351e-01 -6.41412540e-01 -1.26001909e-01 3.67045009e+02] [ 6.32533559e-01 7.67195759e-01 -1.06357721e-01 1.10632546e+02] [ 1.64887306e-01 7.88784336e-04 9.86312098e-01 4.70192502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.1686399999999 meters Centerline goodness : 0.994426 with order 1 Centerline is valid? [True, True] Translation: X:367.09, Y:110.67, Z:47.03 [[ 7.58909017e-01 -6.38901828e-01 -1.25942675e-01 3.67089752e+02] [ 6.29976750e-01 7.69286952e-01 -1.06427818e-01 1.10669453e+02] [ 1.64882984e-01 1.42807408e-03 9.86312102e-01 4.70287825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.2286399999999 meters Centerline goodness : 0.993891 with order 1 Centerline is valid? [True, True] Translation: X:367.13, Y:110.71, Z:47.04 [[ 7.63233057e-01 -6.33740251e-01 -1.25891203e-01 3.67132142e+02] [ 6.24734960e-01 7.73541462e-01 -1.06488668e-01 1.10708270e+02] [ 1.64868221e-01 2.62703601e-03 9.86312105e-01 4.70380872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28863999999993 meters Centerline goodness : 0.994916 with order 1 Centerline is valid? [True, True] Translation: X:367.17, Y:110.75, Z:47.05 [[ 7.67253654e-01 -6.28878297e-01 -1.25832899e-01 3.67174595e+02] [ 6.19796409e-01 7.77494634e-01 -1.06557520e-01 1.10747561e+02] [ 1.64846116e-01 3.76586769e-03 9.86312109e-01 4.70472324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34863999999993 meters Centerline goodness : 0.993411 with order 1 Centerline is valid? [True, True] Translation: X:367.22, Y:110.79, Z:47.06 [[ 7.68290654e-01 -6.27613828e-01 -1.25818736e-01 3.67216263e+02] [ 6.18512351e-01 7.78514228e-01 -1.06574241e-01 1.10787283e+02] [ 1.64839143e-01 4.05955085e-03 9.86312109e-01 4.70578811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40863999999993 meters Centerline goodness : 0.994003 with order 1 Centerline is valid? [True, True] Translation: X:367.26, Y:110.83, Z:47.07 [[ 7.67671898e-01 -6.28380321e-01 -1.25769745e-01 3.67259630e+02] [ 6.19279593e-01 7.77896135e-01 -1.06632026e-01 1.10825680e+02] [ 1.64841265e-01 3.97177326e-03 9.86312112e-01 4.70675530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46863999999994 meters Centerline goodness : 0.994272 with order 1 Centerline is valid? [True, True] Translation: X:367.30, Y:110.87, Z:47.08 [[ 7.67778545e-01 -6.28259807e-01 -1.25720807e-01 3.67299511e+02] [ 6.19148039e-01 7.77992941e-01 -1.06689694e-01 1.10868030e+02] [ 1.64838747e-01 4.07426699e-03 9.86312115e-01 4.70788484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52863999999994 meters Centerline goodness : 0.994139 with order 1 Centerline is valid? [True, True] Translation: X:367.34, Y:110.91, Z:47.09 [[ 7.67699055e-01 -6.28366756e-01 -1.25671721e-01 3.67338153e+02] [ 6.19246959e-01 7.77906279e-01 -1.06747482e-01 1.10910467e+02] [ 1.64837390e-01 4.12811001e-03 9.86312118e-01 4.70874731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58863999999994 meters Centerline goodness : 0.994189 with order 1 Centerline is valid? [True, True] Translation: X:367.37, Y:110.96, Z:47.10 [[ 7.68616481e-01 -6.27255617e-01 -1.25614872e-01 3.67372015e+02] [ 6.18110149e-01 7.78800707e-01 -1.06814339e-01 1.10959923e+02] [ 1.64828845e-01 4.45543413e-03 9.86312122e-01 4.70951891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64863999999994 meters Centerline goodness : 0.993459 with order 1 Centerline is valid? [True, True] Translation: X:367.41, Y:111.00, Z:47.11 [[ 7.68143732e-01 -6.27845676e-01 -1.25558805e-01 3.67410748e+02] [ 6.18697277e-01 7.78325319e-01 -1.06880205e-01 1.11003361e+02] [ 1.64829871e-01 4.41646910e-03 9.86312125e-01 4.71056081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70863999999995 meters Centerline goodness : 0.993457 with order 1 Centerline is valid? [True, True] Translation: X:367.45, Y:111.05, Z:47.12 [[ 7.63702922e-01 -6.33249808e-01 -1.25509078e-01 3.67448060e+02] [ 6.24163887e-01 7.73940298e-01 -1.06938568e-01 1.11048088e+02] [ 1.64855361e-01 3.33106298e-03 9.86312128e-01 4.71158546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76863999999995 meters Centerline goodness : 0.993216 with order 1 Centerline is valid? [True, True] Translation: X:367.49, Y:111.09, Z:47.13 [[ 7.58188405e-01 -6.39845521e-01 -1.25491246e-01 3.67488403e+02] [ 6.30845213e-01 7.68501129e-01 -1.06959490e-01 1.11088965e+02] [ 1.64877714e-01 1.92989321e-03 9.86312128e-01 4.71258417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82863999999995 meters Centerline goodness : 0.992822 with order 1 Centerline is valid? [True, True] Translation: X:367.53, Y:111.13, Z:47.14 [[ 7.54999268e-01 -6.43616929e-01 -1.25432667e-01 3.67528242e+02] [ 6.34656731e-01 7.65346856e-01 -1.07028142e-01 1.11131921e+02] [ 1.64884622e-01 1.19948229e-03 9.86312133e-01 4.71356347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88863999999995 meters Centerline goodness : 0.991742 with order 1 Centerline is valid? [True, True] Translation: X:367.57, Y:111.17, Z:47.15 [[ 7.52629691e-01 -6.46389148e-01 -1.25417770e-01 3.67572083e+02] [ 6.37464157e-01 7.63007660e-01 -1.07045596e-01 1.11170313e+02] [ 1.64887831e-01 6.16360597e-04 9.86312133e-01 4.71453496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94863999999995 meters Centerline goodness : 0.992675 with order 1 Centerline is valid? [True, True] Translation: X:367.62, Y:111.21, Z:47.16 [[ 7.50859595e-01 -6.48447348e-01 -1.25402973e-01 3.67616458e+02] [ 6.39547909e-01 7.61259484e-01 -1.07062929e-01 1.11207695e+02] [ 1.64888874e-01 1.88018589e-04 9.86312133e-01 4.71559104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00863999999996 meters Centerline goodness : 0.993016 with order 1 Centerline is valid? [True, True] Translation: X:367.66, Y:111.24, Z:47.17 [[ 7.49096896e-01 -6.50485714e-01 -1.25388098e-01 3.67662748e+02] [ 6.41611658e-01 7.59518452e-01 -1.07080347e-01 1.11242956e+02] [ 1.64888810e-01 -2.36909747e-04 9.86312133e-01 4.71656556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06863999999996 meters Centerline goodness : 0.994246 with order 1 Centerline is valid? [True, True] Translation: X:367.71, Y:111.28, Z:47.17 [[ 7.48257793e-01 -6.51453629e-01 -1.25373217e-01 3.67708862e+02] [ 6.42590135e-01 7.58688333e-01 -1.07097766e-01 1.11277183e+02] [ 1.64888426e-01 -4.26854434e-04 9.86312134e-01 4.71737792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12863999999996 meters Centerline goodness : 0.994773 with order 1 Centerline is valid? [True, True] Translation: X:367.76, Y:111.31, Z:47.18 [[ 7.47174638e-01 -6.52699920e-01 -1.25351006e-01 3.67756392e+02] [ 6.43849463e-01 7.57616242e-01 -1.07123757e-01 1.11310928e+02] [ 1.64887626e-01 -6.67023600e-04 9.86312134e-01 4.71834003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18863999999996 meters Centerline goodness : 0.994139 with order 1 Centerline is valid? [True, True] Translation: X:367.81, Y:111.34, Z:47.20 [[ 7.44695090e-01 -6.55530325e-01 -1.25336414e-01 3.67806413e+02] [ 6.46716679e-01 7.55167783e-01 -1.07140828e-01 1.11341499e+02] [ 1.64884083e-01 -1.26990099e-03 9.86312134e-01 4.71951701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24863999999997 meters Centerline goodness : 0.986142 with order 1 Centerline is valid? [True, True] Translation: X:367.85, Y:111.37, Z:47.22 [[ 7.44943224e-01 -6.55258198e-01 -1.25284821e-01 3.67853227e+02] [ 6.46430584e-01 7.55404142e-01 -1.07201124e-01 1.11371161e+02] [ 1.64885088e-01 -1.12918904e-03 9.86312137e-01 4.72231269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30863999999997 meters Centerline goodness : 0.995269 with order 1 Centerline is valid? [True, True] Translation: X:367.90, Y:111.41, Z:47.22 [[ 7.45340279e-01 -6.54815746e-01 -1.25236609e-01 3.67902755e+02] [ 6.45972461e-01 7.55787950e-01 -1.07257419e-01 1.11407377e+02] [ 1.64886167e-01 -9.56125898e-04 9.86312140e-01 4.72162450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36863999999997 meters Centerline goodness : 0.989512 with order 1 Centerline is valid? [True, True] Translation: X:367.95, Y:111.44, Z:47.24 [[ 7.47731288e-01 -6.52094467e-01 -1.25182775e-01 3.67947190e+02] [ 6.43202643e-01 7.58137673e-01 -1.07320214e-01 1.11439714e+02] [ 1.64888696e-01 -2.71209908e-04 9.86312144e-01 4.72390317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42864 meters Centerline goodness : 0.996381 with order 1 Centerline is valid? [True, True] Translation: X:368.00, Y:111.47, Z:47.24 [[ 7.45068277e-01 -6.55147004e-01 -1.25122602e-01 3.67996535e+02] [ 6.46286036e-01 7.55500945e-01 -1.07390323e-01 1.11473527e+02] [ 1.64886693e-01 -8.51867746e-04 9.86312148e-01 4.72360716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48864 meters Centerline goodness : 0.996190 with order 1 Centerline is valid? [True, True] Translation: X:368.04, Y:111.51, Z:47.25 [[ 7.45147634e-01 -6.55068511e-01 -1.25060986e-01 3.68041434e+02] [ 6.46194407e-01 7.55569124e-01 -1.07462032e-01 1.11509461e+02] [ 1.64887213e-01 -7.38630901e-04 9.86312152e-01 4.72455202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54864 meters Centerline goodness : 0.996537 with order 1 Centerline is valid? [True, True] Translation: X:368.09, Y:111.55, Z:47.25 [[ 7.48206626e-01 -6.51584055e-01 -1.25000253e-01 3.68086914e+02] [ 6.42649617e-01 7.58576432e-01 -1.07532631e-01 1.11545889e+02] [ 1.64888794e-01 1.25262651e-04 9.86312156e-01 4.72543109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6086399999999 meters Centerline goodness : 0.997116 with order 1 Centerline is valid? [True, True] Translation: X:368.13, Y:111.58, Z:47.26 [[ 7.52064462e-01 -6.47137670e-01 -1.24947515e-01 3.68131144e+02] [ 6.38131745e-01 7.62372241e-01 -1.07593876e-01 1.11583638e+02] [ 1.64884567e-01 1.18455476e-03 9.86312160e-01 4.72638592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.6686399999999 meters Centerline goodness : 0.997506 with order 1 Centerline is valid? [True, True] Translation: X:368.18, Y:111.62, Z:47.27 [[ 7.52247031e-01 -6.46935525e-01 -1.24895276e-01 3.68176720e+02] [ 6.37916768e-01 7.62543579e-01 -1.07654482e-01 1.11619594e+02] [ 1.64883600e-01 1.30997396e-03 9.86312163e-01 4.72740029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.7286399999999 meters Centerline goodness : 0.996385 with order 1 Centerline is valid? [True, True] Translation: X:368.22, Y:111.66, Z:47.28 [[ 7.51360247e-01 -6.47975271e-01 -1.24843212e-01 3.68221454e+02] [ 6.38960735e-01 7.61660486e-01 -1.07714826e-01 1.11656287e+02] [ 1.64884685e-01 1.16272778e-03 9.86312166e-01 4.72839871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78863999999993 meters Centerline goodness : 0.996633 with order 1 Centerline is valid? [True, True] Translation: X:368.27, Y:111.69, Z:47.29 [[ 7.51162199e-01 -6.48214996e-01 -1.24790501e-01 3.68266526e+02] [ 6.39193606e-01 7.61456432e-01 -1.07775859e-01 1.11692938e+02] [ 1.64884458e-01 1.19186137e-03 9.86312169e-01 4.72929722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84863999999993 meters Centerline goodness : 0.996583 with order 1 Centerline is valid? [True, True] Translation: X:368.31, Y:111.73, Z:47.30 [[ 7.52536772e-01 -6.46628854e-01 -1.24737853e-01 3.68309796e+02] [ 6.37575672e-01 7.62803052e-01 -1.07836760e-01 1.11731593e+02] [ 1.64880775e-01 1.62130681e-03 9.86312172e-01 4.73032293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90863999999993 meters Centerline goodness : 0.996923 with order 1 Centerline is valid? [True, True] Translation: X:368.35, Y:111.77, Z:47.31 [[ 7.50973495e-01 -6.48453752e-01 -1.24685768e-01 3.68353929e+02] [ 6.39415524e-01 7.61252939e-01 -1.07896950e-01 1.11767352e+02] [ 1.64883589e-01 1.30173380e-03 9.86312175e-01 4.73125020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96863999999994 meters Centerline goodness : 0.997315 with order 1 Centerline is valid? [True, True] Translation: X:368.40, Y:111.80, Z:47.32 [[ 7.47967020e-01 -6.51930698e-01 -1.24626244e-01 3.68399478e+02] [ 6.42928804e-01 7.58278292e-01 -1.07965660e-01 1.11803587e+02] [ 1.64887504e-01 6.28950630e-04 9.86312180e-01 4.73219714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02863999999994 meters Centerline goodness : 0.996583 with order 1 Centerline is valid? [True, True] Translation: X:368.44, Y:111.84, Z:47.33 [[ 7.45851079e-01 -6.54360424e-01 -1.24573687e-01 3.68444758e+02] [ 6.45381996e-01 7.56182785e-01 -1.08026268e-01 1.11839452e+02] [ 1.64888593e-01 1.73893554e-04 9.86312183e-01 4.73324116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08863999999994 meters Centerline goodness : 0.996579 with order 1 Centerline is valid? [True, True] Translation: X:368.49, Y:111.88, Z:47.34 [[ 7.45559512e-01 -6.54702718e-01 -1.24520544e-01 3.68489499e+02] [ 6.45718805e-01 7.55886446e-01 -1.08087492e-01 1.11876037e+02] [ 1.64888566e-01 1.80400612e-04 9.86312186e-01 4.73410711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14863999999994 meters Centerline goodness : 0.995705 with order 1 Centerline is valid? [True, True] Translation: X:368.54, Y:111.91, Z:47.35 [[ 7.44774535e-01 -6.55607156e-01 -1.24459428e-01 3.68536058e+02] [ 6.46624029e-01 7.55102146e-01 -1.08157820e-01 1.11908725e+02] [ 1.64888622e-01 7.47331336e-05 9.86312190e-01 4.73525585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20863999999995 meters Centerline goodness : 0.990014 with order 1 Centerline is valid? [True, True] Translation: X:368.58, Y:111.94, Z:47.37 [[ 7.45268050e-01 -6.55057750e-01 -1.24398065e-01 3.68580911e+02] [ 6.46055233e-01 7.55578758e-01 -1.08228352e-01 1.11943689e+02] [ 1.64888356e-01 2.91111563e-04 9.86312195e-01 4.73715769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26863999999995 meters Centerline goodness : 0.994581 with order 1 Centerline is valid? [True, True] Translation: X:368.63, Y:111.98, Z:47.37 [[ 7.42406359e-01 -6.58309326e-01 -1.24344800e-01 3.68630596e+02] [ 6.49341720e-01 7.52747442e-01 -1.08289516e-01 1.11977939e+02] [ 1.64888228e-01 -3.47440727e-04 9.86312198e-01 4.73704427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32863999999995 meters Centerline goodness : 0.995117 with order 1 Centerline is valid? [True, True] Translation: X:368.68, Y:112.01, Z:47.38 [[ 7.41874579e-01 -6.58911439e-01 -1.24329499e-01 3.68677349e+02] [ 6.49949283e-01 7.52220384e-01 -1.08307080e-01 1.12013051e+02] [ 1.64887957e-01 -4.57598774e-04 9.86312198e-01 4.73807834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38863999999995 meters Centerline goodness : 0.989493 with order 1 Centerline is valid? [True, True] Translation: X:368.72, Y:112.05, Z:47.40 [[ 7.43979652e-01 -6.56543802e-01 -1.24275957e-01 3.68723448e+02] [ 6.47538462e-01 7.54287885e-01 -1.08368482e-01 1.12047151e+02] [ 1.64888504e-01 1.50483333e-04 9.86312201e-01 4.73987323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44863999999995 meters Centerline goodness : 0.987688 with order 1 Centerline is valid? [True, True] Translation: X:368.77, Y:112.08, Z:47.41 [[ 7.44345848e-01 -6.56130766e-01 -1.24264543e-01 3.68772914e+02] [ 6.47117520e-01 7.54647170e-01 -1.08381569e-01 1.12079005e+02] [ 1.64888368e-01 2.59608183e-04 9.86312202e-01 4.74094048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50863999999996 meters Centerline goodness : 0.994917 with order 1 Centerline is valid? [True, True] Translation: X:368.82, Y:112.11, Z:47.41 [[ 7.42693285e-01 -6.58010842e-01 -1.24211178e-01 3.68822898e+02] [ 6.49013448e-01 7.53008451e-01 -1.08442694e-01 1.12112671e+02] [ 1.64888535e-01 -7.50642145e-05 9.86312205e-01 4.74077851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56863999999996 meters Centerline goodness : 0.995169 with order 1 Centerline is valid? [True, True] Translation: X:368.87, Y:112.15, Z:47.42 [[ 7.45024341e-01 -6.55373238e-01 -1.24196017e-01 3.68868191e+02] [ 6.46336431e-01 7.55304994e-01 -1.08460055e-01 1.12149333e+02] [ 1.64887690e-01 5.32970507e-04 9.86312205e-01 4.74159945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62863999999996 meters Centerline goodness : 0.994782 with order 1 Centerline is valid? [True, True] Translation: X:368.91, Y:112.19, Z:47.43 [[ 7.48323639e-01 -6.51613641e-01 -1.24142637e-01 3.68910562e+02] [ 6.42515053e-01 7.58549651e-01 -1.08521120e-01 1.12188297e+02] [ 1.64882196e-01 1.44540595e-03 9.86312208e-01 4.74265617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68863999999996 meters Centerline goodness : 0.995949 with order 1 Centerline is valid? [True, True] Translation: X:368.95, Y:112.23, Z:47.44 [[ 7.47787171e-01 -6.52239145e-01 -1.24090471e-01 3.68953761e+02] [ 6.43139216e-01 7.58011987e-01 -1.08580738e-01 1.12226139e+02] [ 1.64882672e-01 1.38783455e-03 9.86312211e-01 4.74359860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74863999999997 meters Centerline goodness : 0.995124 with order 1 Centerline is valid? [True, True] Translation: X:369.00, Y:112.27, Z:47.45 [[ 7.46474366e-01 -6.53752436e-01 -1.24031339e-01 3.68996004e+02] [ 6.44662018e-01 7.56707633e-01 -1.08648244e-01 1.12265601e+02] [ 1.64884515e-01 1.14483578e-03 9.86312215e-01 4.74473335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80863999999997 meters Centerline goodness : 0.995560 with order 1 Centerline is valid? [True, True] Translation: X:369.04, Y:112.30, Z:47.46 [[ 7.44186390e-01 -6.56365467e-01 -1.23979800e-01 3.69038154e+02] [ 6.47301187e-01 7.54442812e-01 -1.08707024e-01 1.12304626e+02] [ 1.64887206e-01 6.46015777e-04 9.86312218e-01 4.74566413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86863999999997 meters Centerline goodness : 0.994585 with order 1 Centerline is valid? [True, True] Translation: X:369.08, Y:112.34, Z:47.47 [[ 7.43081648e-01 -6.57627157e-01 -1.23920084e-01 3.69078912e+02] [ 6.48568943e-01 7.53343423e-01 -1.08775056e-01 1.12344886e+02] [ 1.64887811e-01 4.58030017e-04 9.86312222e-01 4.74656288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92864 meters Centerline goodness : 0.986379 with order 1 Centerline is valid? [True, True] Translation: X:369.12, Y:112.38, Z:47.49 [[ 7.45563211e-01 -6.54823832e-01 -1.23859792e-01 3.69119189e+02] [ 6.45715633e-01 7.55780641e-01 -1.08843667e-01 1.12384562e+02] [ 1.64884260e-01 1.17163024e-03 9.86312226e-01 4.74895497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98864 meters Centerline goodness : 0.994629 with order 1 Centerline is valid? [True, True] Translation: X:369.16, Y:112.42, Z:47.49 [[ 7.44921060e-01 -6.55554949e-01 -1.23856059e-01 3.69164953e+02] [ 6.46456073e-01 7.55146792e-01 -1.08847915e-01 1.12424745e+02] [ 1.64885295e-01 1.01560249e-03 9.86312227e-01 4.74852846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04864 meters Centerline goodness : 0.986849 with order 1 Centerline is valid? [True, True] Translation: X:369.20, Y:112.46, Z:47.51 [[ 7.47930589e-01 -6.52128736e-01 -1.23806080e-01 3.69204805e+02] [ 6.42973613e-01 7.58105990e-01 -1.08904733e-01 1.12464341e+02] [ 1.64878037e-01 1.84913813e-03 9.86312229e-01 4.75084893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1086399999999 meters Centerline goodness : 0.994289 with order 1 Centerline is valid? [True, True] Translation: X:369.25, Y:112.51, Z:47.51 [[ 7.46909688e-01 -6.53299898e-01 -1.23794838e-01 3.69249186e+02] [ 6.44158613e-01 7.57097522e-01 -1.08917510e-01 1.12505213e+02] [ 1.64880563e-01 1.60803236e-03 9.86312229e-01 4.75050751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.1686399999999 meters Centerline goodness : 0.984756 with order 1 Centerline is valid? [True, True] Translation: X:369.29, Y:112.55, Z:47.53 [[ 7.50009557e-01 -6.49741668e-01 -1.23779757e-01 3.69287079e+02] [ 6.40549226e-01 7.60151256e-01 -1.08934646e-01 1.12546263e+02] [ 1.64870717e-01 2.41499804e-03 9.86312230e-01 4.75298455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.2286399999999 meters Centerline goodness : 0.995258 with order 1 Centerline is valid? [True, True] Translation: X:369.33, Y:112.59, Z:47.53 [[ 7.49589407e-01 -6.50236221e-01 -1.23727840e-01 3.69330521e+02] [ 6.41040743e-01 7.59728350e-01 -1.08993583e-01 1.12588918e+02] [ 1.64871123e-01 2.38584871e-03 9.86312233e-01 4.75253910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28863999999993 meters Centerline goodness : 0.995122 with order 1 Centerline is valid? [True, True] Translation: X:369.37, Y:112.63, Z:47.54 [[ 7.51225134e-01 -6.48355010e-01 -1.23679340e-01 3.69370847e+02] [ 6.39125090e-01 7.61332729e-01 -1.09048591e-01 1.12630610e+02] [ 1.64863329e-01 2.87347336e-03 9.86312235e-01 4.75350790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34863999999993 meters Centerline goodness : 0.995460 with order 1 Centerline is valid? [True, True] Translation: X:369.41, Y:112.67, Z:47.54 [[ 7.51551485e-01 -6.47986562e-01 -1.23627590e-01 3.69411123e+02] [ 6.38742045e-01 7.61645727e-01 -1.09107229e-01 1.12671508e+02] [ 1.64860443e-01 3.03356051e-03 9.86312238e-01 4.75446241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40863999999993 meters Centerline goodness : 0.996242 with order 1 Centerline is valid? [True, True] Translation: X:369.45, Y:112.71, Z:47.55 [[ 7.51591136e-01 -6.47951813e-01 -1.23568652e-01 3.69450198e+02] [ 6.38695866e-01 7.61674893e-01 -1.09173938e-01 1.12714472e+02] [ 1.64858591e-01 3.13137733e-03 9.86312242e-01 4.75531933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46863999999994 meters Centerline goodness : 0.995414 with order 1 Centerline is valid? [True, True] Translation: X:369.49, Y:112.76, Z:47.56 [[ 7.50796435e-01 -6.48875995e-01 -1.23550219e-01 3.69489658e+02] [ 6.39629030e-01 7.60888429e-01 -1.09194795e-01 1.12756277e+02] [ 1.64861813e-01 2.95675579e-03 9.86312243e-01 4.75636550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52863999999994 meters Centerline goodness : 0.985395 with order 1 Centerline is valid? [True, True] Translation: X:369.53, Y:112.80, Z:47.59 [[ 7.49034964e-01 -6.50919763e-01 -1.23491234e-01 3.69527310e+02] [ 6.41689347e-01 7.59142091e-01 -1.09261463e-01 1.12798612e+02] [ 1.64867839e-01 2.59764630e-03 9.86312247e-01 4.75880438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58863999999994 meters Centerline goodness : 0.994972 with order 1 Centerline is valid? [True, True] Translation: X:369.57, Y:112.84, Z:47.58 [[ 7.44494225e-01 -6.56109816e-01 -1.23483837e-01 3.69569118e+02] [ 6.46948481e-01 7.54664011e-01 -1.09269822e-01 1.12842085e+02] [ 1.64881810e-01 1.46307011e-03 9.86312247e-01 4.75830184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64863999999994 meters Centerline goodness : 0.994035 with order 1 Centerline is valid? [True, True] Translation: X:369.61, Y:112.88, Z:47.60 [[ 7.40924492e-01 -6.60141185e-01 -1.23468668e-01 3.69609906e+02] [ 6.51032330e-01 7.51141309e-01 -1.09286959e-01 1.12882885e+02] [ 1.64887240e-01 5.91289942e-04 9.86312247e-01 4.75951192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70863999999995 meters Centerline goodness : 0.985795 with order 1 Centerline is valid? [True, True] Translation: X:369.65, Y:112.92, Z:47.62 [[ 7.40498342e-01 -6.60629150e-01 -1.23415283e-01 3.69649041e+02] [ 6.51516983e-01 7.50712200e-01 -1.09347214e-01 1.12921362e+02] [ 1.64887315e-01 5.64277888e-04 9.86312250e-01 4.76179747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76863999999995 meters Centerline goodness : 0.994827 with order 1 Centerline is valid? [True, True] Translation: X:369.69, Y:112.96, Z:47.62 [[ 7.38338633e-01 -6.63053590e-01 -1.23353155e-01 3.69694180e+02] [ 6.53963256e-01 7.48571923e-01 -1.09417256e-01 1.12960629e+02] [ 1.64888212e-01 1.18556168e-04 9.86312254e-01 4.76152669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82863999999995 meters Centerline goodness : 0.996000 with order 1 Centerline is valid? [True, True] Translation: X:369.74, Y:113.00, Z:47.63 [[ 7.38021724e-01 -6.63416452e-01 -1.23298606e-01 3.69738064e+02] [ 6.54320884e-01 7.48250357e-01 -1.09478692e-01 1.12997975e+02] [ 1.64888191e-01 1.20799922e-04 9.86312258e-01 4.76253025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88863999999995 meters Centerline goodness : 0.984918 with order 1 Centerline is valid? [True, True] Translation: X:369.78, Y:113.03, Z:47.65 [[ 7.37118107e-01 -6.64431754e-01 -1.23236928e-01 3.69782910e+02] [ 6.55338672e-01 7.47348944e-01 -1.09548077e-01 1.13031616e+02] [ 1.64888209e-01 -1.20539333e-05 9.86312262e-01 4.76506086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94863999999995 meters Centerline goodness : 0.994727 with order 1 Centerline is valid? [True, True] Translation: X:369.83, Y:113.07, Z:47.65 [[ 7.36588226e-01 -6.65029102e-01 -1.23183109e-01 3.69830843e+02] [ 6.55934199e-01 7.46817440e-01 -1.09608562e-01 1.13068072e+02] [ 1.64888178e-01 -6.36375017e-05 9.86312265e-01 4.76450467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00863999999996 meters Centerline goodness : 0.995400 with order 1 Centerline is valid? [True, True] Translation: X:369.88, Y:113.10, Z:47.66 [[ 7.42682717e-01 -6.58219634e-01 -1.23163695e-01 3.69875838e+02] [ 6.49027326e-01 7.52824489e-01 -1.09630373e-01 1.13104092e+02] [ 1.64881510e-01 1.48398001e-03 9.86312266e-01 4.76565242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06863999999996 meters Centerline goodness : 0.995708 with order 1 Centerline is valid? [True, True] Translation: X:369.92, Y:113.14, Z:47.67 [[ 7.46416258e-01 -6.53992822e-01 -1.23110351e-01 3.69920480e+02] [ 6.44733214e-01 7.56496618e-01 -1.09690244e-01 1.13141512e+02] [ 1.64869197e-01 2.50124871e-03 9.86312269e-01 4.76656581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12863999999996 meters Centerline goodness : 0.996875 with order 1 Centerline is valid? [True, True] Translation: X:369.96, Y:113.18, Z:47.67 [[ 7.49651243e-01 -6.50292176e-01 -1.23057304e-01 3.69962593e+02] [ 6.40973054e-01 7.59676604e-01 -1.09749724e-01 1.13181086e+02] [ 1.64853142e-01 3.39760129e-03 9.86312272e-01 4.76748018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18863999999996 meters Centerline goodness : 0.997069 with order 1 Centerline is valid? [True, True] Translation: X:370.01, Y:113.22, Z:47.68 [[ 7.50038914e-01 -6.49854842e-01 -1.23005332e-01 3.70005071e+02] [ 6.40520332e-01 7.60049945e-01 -1.09807943e-01 1.13219795e+02] [ 1.64849420e-01 3.57281400e-03 9.86312275e-01 4.76827077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24863999999997 meters Centerline goodness : 0.996919 with order 1 Centerline is valid? [True, True] Translation: X:370.05, Y:113.26, Z:47.69 [[ 7.48797161e-01 -6.51296388e-01 -1.22946439e-01 3.70047898e+02] [ 6.41970337e-01 7.58816068e-01 -1.09873845e-01 1.13258870e+02] [ 1.64854171e-01 3.34525638e-03 9.86312279e-01 4.76936895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30863999999997 meters Centerline goodness : 0.991844 with order 1 Centerline is valid? [True, True] Translation: X:370.09, Y:113.30, Z:47.72 [[ 7.50713462e-01 -6.49096401e-01 -1.22894912e-01 3.70086906e+02] [ 6.39731570e-01 7.60696125e-01 -1.09931448e-01 1.13300354e+02] [ 1.64841791e-01 3.90726332e-03 9.86312282e-01 4.77158924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36863999999997 meters Centerline goodness : 0.998437 with order 1 Centerline is valid? [True, True] Translation: X:370.13, Y:113.35, Z:47.71 [[ 7.51762310e-01 -6.47882765e-01 -1.22887558e-01 3.70128342e+02] [ 6.38500476e-01 7.61728568e-01 -1.09939669e-01 1.13345400e+02] [ 1.64834980e-01 4.18473517e-03 9.86312282e-01 4.77121559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42864 meters Centerline goodness : 0.998973 with order 1 Centerline is valid? [True, True] Translation: X:370.17, Y:113.39, Z:47.72 [[ 7.51706675e-01 -6.47948690e-01 -1.22880307e-01 3.70168379e+02] [ 6.38565953e-01 7.61672509e-01 -1.09947772e-01 1.13387816e+02] [ 1.64835067e-01 4.18129387e-03 9.86312282e-01 4.77211978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48864 meters Centerline goodness : 0.999120 with order 1 Centerline is valid? [True, True] Translation: X:370.21, Y:113.43, Z:47.73 [[ 7.47753838e-01 -6.52516031e-01 -1.22829261e-01 3.70210552e+02] [ 6.43184821e-01 7.57767931e-01 -1.10004770e-01 1.13427073e+02] [ 1.64855951e-01 3.25457255e-03 9.86312285e-01 4.77306534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54864 meters Centerline goodness : 0.999317 with order 1 Centerline is valid? [True, True] Translation: X:370.25, Y:113.47, Z:47.74 [[ 7.44366273e-01 -6.56387374e-01 -1.22778124e-01 3.70254004e+02] [ 6.47098845e-01 7.54419964e-01 -1.10061816e-01 1.13465661e+02] [ 1.64869454e-01 2.47672115e-03 9.86312288e-01 4.77388024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6086399999999 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:370.30, Y:113.50, Z:47.75 [[ 7.42098008e-01 -6.58960554e-01 -1.22725446e-01 3.70298571e+02] [ 6.49697179e-01 7.52174877e-01 -1.10120525e-01 1.13502630e+02] [ 1.64876079e-01 1.98584627e-03 9.86312291e-01 4.77480884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.6686399999999 meters Centerline goodness : 0.999267 with order 1 Centerline is valid? [True, True] Translation: X:370.34, Y:113.54, Z:47.76 [[ 7.45068158e-01 -6.55610230e-01 -1.22673009e-01 3.70340692e+02] [ 6.46291937e-01 7.55094259e-01 -1.10178908e-01 1.13541986e+02] [ 1.64864105e-01 2.80821948e-03 9.86312294e-01 4.77586656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.7286399999999 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:370.38, Y:113.58, Z:47.77 [[ 7.48643468e-01 -6.51534461e-01 -1.22620567e-01 3.70381476e+02] [ 6.42152045e-01 7.58609585e-01 -1.10237242e-01 1.13584254e+02] [ 1.64844500e-01 3.78734319e-03 9.86312297e-01 4.77666631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78863999999993 meters Centerline goodness : 0.999219 with order 1 Centerline is valid? [True, True] Translation: X:370.42, Y:113.63, Z:47.78 [[ 7.49622784e-01 -6.50417277e-01 -1.22568541e-01 3.70420651e+02] [ 6.41010563e-01 7.59565967e-01 -1.10295058e-01 1.13627124e+02] [ 1.64836704e-01 4.11195867e-03 9.86312300e-01 4.77773561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84863999999993 meters Centerline goodness : 0.999268 with order 1 Centerline is valid? [True, True] Translation: X:370.46, Y:113.67, Z:47.79 [[ 7.48317354e-01 -6.51928425e-01 -1.22517206e-01 3.70459059e+02] [ 6.42532468e-01 7.58270698e-01 -1.10352053e-01 1.13670627e+02] [ 1.64842848e-01 3.85707375e-03 9.86312303e-01 4.77872230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90863999999993 meters Centerline goodness : 0.999365 with order 1 Centerline is valid? [True, True] Translation: X:370.50, Y:113.71, Z:47.80 [[ 7.47983975e-01 -6.52320538e-01 -1.22465865e-01 3.70498601e+02] [ 6.42920482e-01 7.57933444e-01 -1.10409001e-01 1.13713588e+02] [ 1.64843034e-01 3.84835030e-03 9.86312306e-01 4.77972435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96863999999994 meters Centerline goodness : 0.998487 with order 1 Centerline is valid? [True, True] Translation: X:370.53, Y:113.76, Z:47.81 [[ 7.48546687e-01 -6.51677511e-01 -1.22451128e-01 3.70531275e+02] [ 6.42266238e-01 7.58485545e-01 -1.10425343e-01 1.13763387e+02] [ 1.64839124e-01 4.01229943e-03 9.86312306e-01 4.78077208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02863999999994 meters Centerline goodness : 0.998732 with order 1 Centerline is valid? [True, True] Translation: X:370.57, Y:113.81, Z:47.82 [[ 7.48207257e-01 -6.52069970e-01 -1.22436329e-01 3.70570152e+02] [ 6.42661228e-01 7.58148512e-01 -1.10441750e-01 1.13807130e+02] [ 1.64840669e-01 3.94823784e-03 9.86312306e-01 4.78170427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08863999999994 meters Centerline goodness : 0.997904 with order 1 Centerline is valid? [True, True] Translation: X:370.60, Y:113.86, Z:47.83 [[ 7.46053503e-01 -6.54535826e-01 -1.22421498e-01 3.70604537e+02] [ 6.45157250e-01 7.56023222e-01 -1.10458187e-01 1.13855089e+02] [ 1.64852336e-01 3.42660034e-03 9.86312306e-01 4.78264783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14863999999994 meters Centerline goodness : 0.997261 with order 1 Centerline is valid? [True, True] Translation: X:370.64, Y:113.90, Z:47.84 [[ 7.45563341e-01 -6.55096863e-01 -1.22406717e-01 3.70643568e+02] [ 6.45723103e-01 7.55537587e-01 -1.10474565e-01 1.13900157e+02] [ 1.64854416e-01 3.32494028e-03 9.86312307e-01 4.78351252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20863999999995 meters Centerline goodness : 0.996536 with order 1 Centerline is valid? [True, True] Translation: X:370.68, Y:113.95, Z:47.85 [[ 7.44258459e-01 -6.56580362e-01 -1.22399246e-01 3.70682147e+02] [ 6.47225124e-01 7.54250079e-01 -1.10482842e-01 1.13948446e+02] [ 1.64860505e-01 3.00792286e-03 9.86312307e-01 4.78450787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26863999999995 meters Centerline goodness : 0.995997 with order 1 Centerline is valid? [True, True] Translation: X:370.72, Y:113.99, Z:47.86 [[ 7.37240864e-01 -6.64440692e-01 -1.22451926e-01 3.70724854e+02] [ 6.55201701e-01 7.47340068e-01 -1.10424425e-01 1.13993038e+02] [ 1.64883712e-01 1.17868846e-03 9.86312310e-01 4.78564120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32863999999995 meters Centerline goodness : 0.996002 with order 1 Centerline is valid? [True, True] Translation: X:370.77, Y:114.04, Z:47.87 [[ 7.29011463e-01 -6.73449757e-01 -1.22505965e-01 3.70769073e+02] [ 6.64345640e-01 7.39232414e-01 -1.10364442e-01 1.14037083e+02] [ 1.64885286e-01 -9.29360255e-04 9.86312313e-01 4.78662535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38863999999995 meters Centerline goodness : 0.996442 with order 1 Centerline is valid? [True, True] Translation: X:370.81, Y:114.08, Z:47.88 [[ 7.24299123e-01 -6.78504426e-01 -1.22566409e-01 3.70814621e+02] [ 6.69482985e-01 7.34593115e-01 -1.10297274e-01 1.14078354e+02] [ 1.64873629e-01 -2.16790667e-03 9.86312317e-01 4.78772475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44863999999995 meters Centerline goodness : 0.996189 with order 1 Centerline is valid? [True, True] Translation: X:370.86, Y:114.12, Z:47.89 [[ 7.23051851e-01 -6.79824174e-01 -1.22617750e-01 3.70861735e+02] [ 6.70831199e-01 7.33370716e-01 -1.10240170e-01 1.14119521e+02] [ 1.64868200e-01 -2.54645258e-03 9.86312320e-01 4.78880659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50863999999996 meters Centerline goodness : 0.996244 with order 1 Centerline is valid? [True, True] Translation: X:370.91, Y:114.16, Z:47.90 [[ 7.21537106e-01 -6.81421156e-01 -1.22676048e-01 3.70910261e+02] [ 6.72462044e-01 7.31885382e-01 -1.10175258e-01 1.14158910e+02] [ 1.64860558e-01 -2.99944967e-03 9.86312324e-01 4.78964099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56863999999996 meters Centerline goodness : 0.996245 with order 1 Centerline is valid? [True, True] Translation: X:370.96, Y:114.20, Z:47.91 [[ 7.19655190e-01 -6.83397883e-01 -1.22734432e-01 3.70960535e+02] [ 6.74478278e-01 7.30037533e-01 -1.10110182e-01 1.14196096e+02] [ 1.64849807e-01 -3.54034467e-03 9.86312327e-01 4.79077302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62863999999996 meters Centerline goodness : 0.996828 with order 1 Centerline is valid? [True, True] Translation: X:371.01, Y:114.23, Z:47.92 [[ 7.15780242e-01 -6.87445092e-01 -1.22792062e-01 3.71013819e+02] [ 6.78595188e-01 7.26222056e-01 -1.10045878e-01 1.14228940e+02] [ 1.64824802e-01 -4.55743727e-03 9.86312331e-01 4.79187121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68863999999996 meters Centerline goodness : 0.996485 with order 1 Centerline is valid? [True, True] Translation: X:371.07, Y:114.26, Z:47.93 [[ 7.14233640e-01 -6.89041598e-01 -1.22849439e-01 3.71066400e+02] [ 6.80226034e-01 7.24704457e-01 -1.09981788e-01 1.14262392e+02] [ 1.64811563e-01 -5.01269354e-03 9.86312335e-01 4.79279753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74863999999997 meters Centerline goodness : 0.997070 with order 1 Centerline is valid? [True, True] Translation: X:371.12, Y:114.30, Z:47.94 [[ 7.16860913e-01 -6.86299035e-01 -1.22898599e-01 3.71116926e+02] [ 6.77452812e-01 7.27305837e-01 -1.09926827e-01 1.14297431e+02] [ 1.64827544e-01 -4.45575590e-03 9.86312337e-01 4.79373259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80863999999997 meters Centerline goodness : 0.996970 with order 1 Centerline is valid? [True, True] Translation: X:371.17, Y:114.33, Z:47.95 [[ 7.24148252e-01 -6.78596409e-01 -1.22948053e-01 3.71168503e+02] [ 6.69648421e-01 7.34506125e-01 -1.09871489e-01 1.14327218e+02] [ 1.64864496e-01 -2.76872305e-03 9.86312340e-01 4.79486592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86863999999997 meters Centerline goodness : 0.988488 with order 1 Centerline is valid? [True, True] Translation: X:371.21, Y:114.36, Z:47.98 [[ 7.29328094e-01 -6.73028207e-01 -1.22937237e-01 3.71213282e+02] [ 6.63999082e-01 7.39615316e-01 -1.09883590e-01 1.14360296e+02] [ 1.64881019e-01 -1.48902323e-03 9.86312340e-01 4.79790954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92864 meters Centerline goodness : 0.997309 with order 1 Centerline is valid? [True, True] Translation: X:371.26, Y:114.40, Z:47.97 [[ 7.29970813e-01 -6.72332418e-01 -1.22929786e-01 3.71262148e+02] [ 6.63292084e-01 7.40248185e-01 -1.09891924e-01 1.14398589e+02] [ 1.64882454e-01 -1.32045674e-03 9.86312340e-01 4.79669213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98864 meters Centerline goodness : 0.997265 with order 1 Centerline is valid? [True, True] Translation: X:371.31, Y:114.44, Z:47.98 [[ 7.32368885e-01 -6.69721459e-01 -1.22918603e-01 3.71307078e+02] [ 6.60642384e-01 7.42612050e-01 -1.09904431e-01 1.14435309e+02] [ 1.64886192e-01 -7.14653153e-04 9.86312340e-01 4.79760544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04864 meters Centerline goodness : 0.991941 with order 1 Centerline is valid? [True, True] Translation: X:371.35, Y:114.47, Z:48.00 [[ 7.37879350e-01 -6.63648087e-01 -1.22903543e-01 3.71347901e+02] [ 6.54481892e-01 7.48044629e-01 -1.09921270e-01 1.14473059e+02] [ 1.64886376e-01 6.70492253e-04 9.86312341e-01 4.80023351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1086399999999 meters Centerline goodness : 0.997802 with order 1 Centerline is valid? [True, True] Translation: X:371.39, Y:114.51, Z:47.99 [[ 7.37343852e-01 -6.64245818e-01 -1.22888311e-01 3.71393487e+02] [ 6.55085026e-01 7.47514000e-01 -1.09938297e-01 1.14513902e+02] [ 1.64886787e-01 5.60034848e-04 9.86312341e-01 4.79948459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.1686399999999 meters Centerline goodness : 0.998683 with order 1 Centerline is valid? [True, True] Translation: X:371.43, Y:114.55, Z:48.00 [[ 7.38336204e-01 -6.63152735e-01 -1.22833625e-01 3.71434515e+02] [ 6.53966725e-01 7.48483575e-01 -1.09999364e-01 1.14554432e+02] [ 1.64885330e-01 8.87409558e-04 9.86312344e-01 4.80039020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.2286399999999 meters Centerline goodness : 0.998780 with order 1 Centerline is valid? [True, True] Translation: X:371.48, Y:114.59, Z:48.01 [[ 7.38636090e-01 -6.62822252e-01 -1.22814449e-01 3.71475752e+02] [ 6.53628143e-01 7.48776122e-01 -1.10020771e-01 1.14594856e+02] [ 1.64884742e-01 9.90331896e-04 9.86312345e-01 4.80140400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28863999999993 meters Centerline goodness : 0.990371 with order 1 Centerline is valid? [True, True] Translation: X:371.51, Y:114.63, Z:48.04 [[ 7.35775463e-01 -6.65999139e-01 -1.22799082e-01 3.71513861e+02] [ 6.56845950e-01 7.45952448e-01 -1.10037919e-01 1.14634321e+02] [ 1.64887435e-01 3.03120771e-04 9.86312345e-01 4.80406099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34863999999993 meters Centerline goodness : 0.994632 with order 1 Centerline is valid? [True, True] Translation: X:371.55, Y:114.68, Z:48.05 [[ 7.44023718e-01 -6.56775998e-01 -1.22776202e-01 3.71550952e+02] [ 6.47492454e-01 7.54081933e-01 -1.10063442e-01 1.14681017e+02] [ 1.64870343e-01 2.39314701e-03 9.86312346e-01 4.80489776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40863999999993 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:371.59, Y:114.73, Z:48.04 [[ 7.40506794e-01 -6.60740911e-01 -1.22764559e-01 3.71591381e+02] [ 6.51509073e-01 7.50612489e-01 -1.10076427e-01 1.14726464e+02] [ 1.64880610e-01 1.53011758e-03 9.86312346e-01 4.80438745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46863999999994 meters Centerline goodness : 0.991791 with order 1 Centerline is valid? [True, True] Translation: X:371.63, Y:114.77, Z:48.07 [[ 7.39461678e-01 -6.61913160e-01 -1.22749318e-01 3.71627300e+02] [ 6.52694523e-01 7.49579415e-01 -1.10093420e-01 1.14768912e+02] [ 1.64882646e-01 1.29205756e-03 9.86312346e-01 4.80721153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52863999999994 meters Centerline goodness : 0.998585 with order 1 Centerline is valid? [True, True] Translation: X:371.67, Y:114.82, Z:48.07 [[ 7.35342125e-01 -6.66489577e-01 -1.22733870e-01 3.71669514e+02] [ 6.57331035e-01 7.45514291e-01 -1.10110639e-01 1.14817218e+02] [ 1.64887448e-01 2.92209608e-04 9.86312346e-01 4.80650163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58863999999994 meters Centerline goodness : 0.998633 with order 1 Centerline is valid? [True, True] Translation: X:371.71, Y:114.86, Z:48.08 [[ 7.35229554e-01 -6.66604753e-01 -1.22782755e-01 3.71711441e+02] [ 6.57456910e-01 7.45411340e-01 -1.10056102e-01 1.14863633e+02] [ 1.64887579e-01 1.92127489e-04 9.86312349e-01 4.80752007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64863999999994 meters Centerline goodness : 0.998146 with order 1 Centerline is valid? [True, True] Translation: X:371.75, Y:114.91, Z:48.09 [[ 7.36189274e-01 -6.65533426e-01 -1.22843848e-01 3.71749609e+02] [ 6.56382149e-01 7.46367968e-01 -1.09987869e-01 1.14913327e+02] [ 1.64887317e-01 3.39380968e-04 9.86312353e-01 4.80871944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70863999999995 meters Centerline goodness : 0.988438 with order 1 Centerline is valid? [True, True] Translation: X:371.79, Y:114.96, Z:48.11 [[ 7.37873483e-01 -6.63654418e-01 -1.22904585e-01 3.71787468e+02] [ 6.54488529e-01 7.48039015e-01 -1.09919959e-01 1.14959719e+02] [ 1.64886291e-01 6.67382158e-04 9.86312357e-01 4.81138343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76863999999995 meters Centerline goodness : 0.996827 with order 1 Centerline is valid? [True, True] Translation: X:371.83, Y:115.00, Z:48.11 [[ 7.32416747e-01 -6.69660563e-01 -1.22965198e-01 3.71832421e+02] [ 6.60589418e-01 7.42666907e-01 -1.09852112e-01 1.15004746e+02] [ 1.64885810e-01 -7.71982250e-04 9.86312361e-01 4.81079180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82863999999995 meters Centerline goodness : 0.996244 with order 1 Centerline is valid? [True, True] Translation: X:371.88, Y:115.04, Z:48.12 [[ 7.29148652e-01 -6.73208411e-01 -1.23014953e-01 3.71879953e+02] [ 6.64196537e-01 7.39450957e-01 -1.09796367e-01 1.15044952e+02] [ 1.64879362e-01 -1.64823278e-03 9.86312364e-01 4.81195340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88863999999995 meters Centerline goodness : 0.987763 with order 1 Centerline is valid? [True, True] Translation: X:371.92, Y:115.09, Z:48.14 [[ 7.32072948e-01 -6.70016339e-01 -1.23074389e-01 3.71924112e+02] [ 6.60970743e-01 7.42345653e-01 -1.09729703e-01 1.15085029e+02] [ 1.64884432e-01 -1.01842291e-03 9.86312368e-01 4.81441386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94863999999995 meters Centerline goodness : 0.995754 with order 1 Centerline is valid? [True, True] Translation: X:371.97, Y:115.13, Z:48.14 [[ 7.32510660e-01 -6.69527005e-01 -1.23132948e-01 3.71973482e+02] [ 6.60485596e-01 7.42787045e-01 -1.09663953e-01 1.15126244e+02] [ 1.64884537e-01 -9.97523559e-04 9.86312372e-01 4.81391269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00863999999996 meters Centerline goodness : 0.996294 with order 1 Centerline is valid? [True, True] Translation: X:372.02, Y:115.17, Z:48.15 [[ 7.35356953e-01 -6.66389913e-01 -1.23185372e-01 3.72020329e+02] [ 6.57314530e-01 7.45603343e-01 -1.09605035e-01 1.15166608e+02] [ 1.64887115e-01 -3.72710007e-04 9.86312375e-01 4.81493816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06863999999996 meters Centerline goodness : 0.986661 with order 1 Centerline is valid? [True, True] Translation: X:372.07, Y:115.20, Z:48.17 [[ 7.38371068e-01 -6.63039034e-01 -1.23237190e-01 3.72066275e+02] [ 6.53926877e-01 7.48584765e-01 -1.09546742e-01 1.15204471e+02] [ 1.64887249e-01 2.98034268e-04 9.86312378e-01 4.81739139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12863999999996 meters Centerline goodness : 0.994828 with order 1 Centerline is valid? [True, True] Translation: X:372.12, Y:115.25, Z:48.17 [[ 7.37641160e-01 -6.63839984e-01 -1.23296367e-01 3.72115071e+02] [ 6.54750054e-01 7.47874638e-01 -1.09480097e-01 1.15246464e+02] [ 1.64887492e-01 2.87228237e-05 9.86312382e-01 4.81700587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18863999999996 meters Centerline goodness : 0.995025 with order 1 Centerline is valid? [True, True] Translation: X:372.16, Y:115.29, Z:48.18 [[ 7.40899189e-01 -6.60190374e-01 -1.23357459e-01 3.72161110e+02] [ 6.51061499e-01 7.51097936e-01 -1.09411219e-01 1.15288521e+02] [ 1.64885766e-01 7.49391676e-04 9.86312386e-01 4.81814120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24863999999997 meters Centerline goodness : 0.995365 with order 1 Centerline is valid? [True, True] Translation: X:372.20, Y:115.33, Z:48.19 [[ 7.44546709e-01 -6.56062844e-01 -1.23416949e-01 3.72204613e+02] [ 6.46888560e-01 7.54704621e-01 -1.09344074e-01 1.15331955e+02] [ 1.64879926e-01 1.57475836e-03 9.86312390e-01 4.81908925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30863999999997 meters Centerline goodness : 0.993514 with order 1 Centerline is valid? [True, True] Translation: X:372.25, Y:115.38, Z:48.20 [[ 7.46375098e-01 -6.53972157e-01 -1.23469153e-01 3.72249193e+02] [ 6.44779172e-01 7.56516085e-01 -1.09285095e-01 1.15375339e+02] [ 1.64875809e-01 1.95733583e-03 9.86312393e-01 4.82030252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36863999999997 meters Centerline goodness : 0.993364 with order 1 Centerline is valid? [True, True] Translation: X:372.29, Y:115.42, Z:48.21 [[ 7.48693619e-01 -6.51305131e-01 -1.23529316e-01 3.72291511e+02] [ 6.42087244e-01 7.58811971e-01 -1.09217049e-01 1.15421931e+02] [ 1.64869148e-01 2.45350968e-03 9.86312397e-01 4.82134072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42864 meters Centerline goodness : 0.992734 with order 1 Centerline is valid? [True, True] Translation: X:372.33, Y:115.47, Z:48.22 [[ 7.50523447e-01 -6.49184267e-01 -1.23589413e-01 3.72333881e+02] [ 6.39948987e-01 7.60625920e-01 -1.09149002e-01 1.15467949e+02] [ 1.64863126e-01 2.82796523e-03 9.86312401e-01 4.82241896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48864 meters Centerline goodness : 0.992589 with order 1 Centerline is valid? [True, True] Translation: X:372.38, Y:115.51, Z:48.23 [[ 7.51283656e-01 -6.48292929e-01 -1.23649290e-01 3.72375942e+02] [ 6.39056825e-01 7.61385370e-01 -1.09081130e-01 1.15514181e+02] [ 1.64861285e-01 2.93194744e-03 9.86312405e-01 4.82345303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54864 meters Centerline goodness : 0.992000 with order 1 Centerline is valid? [True, True] Translation: X:372.42, Y:115.56, Z:48.24 [[ 7.50670017e-01 -6.48991924e-01 -1.23709369e-01 3.72416991e+02] [ 6.39776453e-01 7.60790553e-01 -1.09012952e-01 1.15561897e+02] [ 1.64865445e-01 2.68641313e-03 9.86312409e-01 4.82448402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6086399999999 meters Centerline goodness : 0.994241 with order 1 Centerline is valid? [True, True] Translation: X:372.46, Y:115.61, Z:48.25 [[ 7.49762886e-01 -6.50028289e-01 -1.23769297e-01 3.72459010e+02] [ 6.40838040e-01 7.59906324e-01 -1.08944870e-01 1.15607794e+02] [ 1.64870319e-01 2.36674626e-03 9.86312413e-01 4.82536976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.6686399999999 meters Centerline goodness : 0.993706 with order 1 Centerline is valid? [True, True] Translation: X:372.50, Y:115.65, Z:48.26 [[ 7.50856254e-01 -6.48754923e-01 -1.23822194e-01 3.72498748e+02] [ 6.39557386e-01 7.60993081e-01 -1.08884718e-01 1.15654838e+02] [ 1.64867329e-01 2.56537309e-03 9.86312416e-01 4.82639743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.7286399999999 meters Centerline goodness : 0.993697 with order 1 Centerline is valid? [True, True] Translation: X:372.54, Y:115.70, Z:48.28 [[ 7.53540166e-01 -6.45626264e-01 -1.23870678e-01 3.72538632e+02] [ 6.36395708e-01 7.63646931e-01 -1.08829533e-01 1.15704130e+02] [ 1.64856668e-01 3.17665648e-03 9.86312419e-01 4.82751345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78863999999993 meters Centerline goodness : 0.994682 with order 1 Centerline is valid? [True, True] Translation: X:372.58, Y:115.75, Z:48.28 [[ 7.53005944e-01 -6.46237953e-01 -1.23929645e-01 3.72579140e+02] [ 6.37026655e-01 7.63130260e-01 -1.08762344e-01 1.15750971e+02] [ 1.64860817e-01 2.95220393e-03 9.86312423e-01 4.82832644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84863999999993 meters Centerline goodness : 0.994102 with order 1 Centerline is valid? [True, True] Translation: X:372.62, Y:115.80, Z:48.30 [[ 7.49126370e-01 -6.50721395e-01 -1.23981239e-01 3.72620623e+02] [ 6.41580432e-01 7.59314229e-01 -1.08703499e-01 1.15795424e+02] [ 1.64876412e-01 1.88872068e-03 9.86312426e-01 4.82967306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90863999999993 meters Centerline goodness : 0.995174 with order 1 Centerline is valid? [True, True] Translation: X:372.66, Y:115.84, Z:48.31 [[ 7.47958948e-01 -6.52053131e-01 -1.24032762e-01 3.72664967e+02] [ 6.42940058e-01 7.58171758e-01 -1.08644680e-01 1.15838282e+02] [ 1.64880241e-01 1.51612940e-03 9.86312429e-01 4.83067395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96863999999994 meters Centerline goodness : 0.995418 with order 1 Centerline is valid? [True, True] Translation: X:372.71, Y:115.88, Z:48.32 [[ 7.45725512e-01 -6.54596452e-01 -1.24084432e-01 3.72709754e+02] [ 6.45528032e-01 7.55977989e-01 -1.08585636e-01 1.15880792e+02] [ 1.64884871e-01 8.75099485e-04 9.86312432e-01 4.83162945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02863999999994 meters Centerline goodness : 0.994740 with order 1 Centerline is valid? [True, True] Translation: X:372.76, Y:115.92, Z:48.33 [[ 7.44258697e-01 -6.56253939e-01 -1.24136052e-01 3.72755916e+02] [ 6.47218198e-01 7.54539981e-01 -1.08526592e-01 1.15921019e+02] [ 1.64886618e-01 4.28747757e-04 9.86312435e-01 4.83262083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08863999999994 meters Centerline goodness : 0.988981 with order 1 Centerline is valid? [True, True] Translation: X:372.80, Y:115.96, Z:48.35 [[ 7.43704027e-01 -6.56872774e-01 -1.24187273e-01 3.72801682e+02] [ 6.47855378e-01 7.54001402e-01 -1.08467949e-01 1.15959249e+02] [ 1.64887020e-01 2.12658010e-04 9.86312438e-01 4.83497119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14863999999994 meters Centerline goodness : 0.994728 with order 1 Centerline is valid? [True, True] Translation: X:372.85, Y:116.00, Z:48.35 [[ 7.40821010e-01 -6.60112884e-01 -1.24238531e-01 3.72852868e+02] [ 6.51150372e-01 7.51166185e-01 -1.08409207e-01 1.15998536e+02] [ 1.64886097e-01 -5.86147642e-04 9.86312441e-01 4.83478291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20863999999995 meters Centerline goodness : 0.986330 with order 1 Centerline is valid? [True, True] Translation: X:372.90, Y:116.04, Z:48.37 [[ 7.41156716e-01 -6.59724756e-01 -1.24297904e-01 3.72898450e+02] [ 6.50768247e-01 7.51507084e-01 -1.08341090e-01 1.16036470e+02] [ 1.64886055e-01 -5.91402094e-04 9.86312445e-01 4.83720444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26863999999995 meters Centerline goodness : 0.989124 with order 1 Centerline is valid? [True, True] Translation: X:372.95, Y:116.07, Z:48.38 [[ 7.40798459e-01 -6.60117460e-01 -1.24348629e-01 3.72949551e+02] [ 6.51176213e-01 7.51162010e-01 -1.08282840e-01 1.16073153e+02] [ 1.64885359e-01 -7.57108072e-04 9.86312448e-01 4.83822545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32863999999995 meters Centerline goodness : 0.996148 with order 1 Centerline is valid? [True, True] Translation: X:373.00, Y:116.11, Z:48.38 [[ 7.37056599e-01 -6.64281812e-01 -1.24407573e-01 3.73000111e+02] [ 6.55410545e-01 7.47480110e-01 -1.08215077e-01 1.16111599e+02] [ 1.64877494e-01 -1.77739809e-03 9.86312452e-01 4.83794138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38863999999995 meters Centerline goodness : 0.997119 with order 1 Centerline is valid? [True, True] Translation: X:373.05, Y:116.15, Z:48.39 [[ 7.35779356e-01 -6.65686733e-01 -1.24458474e-01 3.73050358e+02] [ 6.56845270e-01 7.46228156e-01 -1.08156505e-01 1.16147141e+02] [ 1.64872768e-01 -2.17063651e-03 9.86312455e-01 4.83901848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44863999999995 meters Centerline goodness : 0.997412 with order 1 Centerline is valid? [True, True] Translation: X:373.10, Y:116.18, Z:48.40 [[ 7.36967113e-01 -6.64362266e-01 -1.24508051e-01 3.73098169e+02] [ 6.55511666e-01 7.47408171e-01 -1.08099403e-01 1.16184807e+02] [ 1.64875499e-01 -1.95077498e-03 9.86312458e-01 4.84007787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50863999999996 meters Centerline goodness : 0.996926 with order 1 Centerline is valid? [True, True] Translation: X:373.15, Y:116.22, Z:48.41 [[ 7.40074319e-01 -6.60890492e-01 -1.24554241e-01 3.73148378e+02] [ 6.51999867e-01 7.50481314e-01 -1.08046156e-01 1.16220165e+02] [ 1.64882308e-01 -1.24716319e-03 9.86312460e-01 4.84114135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56863999999996 meters Centerline goodness : 0.991370 with order 1 Centerline is valid? [True, True] Translation: X:373.19, Y:116.26, Z:48.44 [[ 7.47676047e-01 -6.52268609e-01 -1.24604137e-01 3.73191350e+02] [ 6.43267556e-01 7.57987676e-01 -1.07988584e-01 1.16261417e+02] [ 1.64885964e-01 5.86679033e-04 9.86312463e-01 4.84364510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62863999999996 meters Centerline goodness : 0.998195 with order 1 Centerline is valid? [True, True] Translation: X:373.24, Y:116.31, Z:48.43 [[ 7.49216071e-01 -6.50487963e-01 -1.24662297e-01 3.73239023e+02] [ 6.41473578e-01 7.59516043e-01 -1.07921403e-01 1.16305232e+02] [ 1.64884588e-01 8.88880235e-04 9.86312467e-01 4.84313494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68863999999996 meters Centerline goodness : 0.993170 with order 1 Centerline is valid? [True, True] Translation: X:373.28, Y:116.35, Z:48.46 [[ 7.52833955e-01 -6.46286064e-01 -1.24721126e-01 3.73279480e+02] [ 6.37225459e-01 7.63093287e-01 -1.07853374e-01 1.16348321e+02] [ 1.64877987e-01 1.72020522e-03 9.86312471e-01 4.84553828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74863999999997 meters Centerline goodness : 0.998635 with order 1 Centerline is valid? [True, True] Translation: X:373.33, Y:116.39, Z:48.45 [[ 7.47101253e-01 -6.52894834e-01 -1.24772007e-01 3.73326454e+02] [ 6.43934818e-01 7.57448546e-01 -1.07794480e-01 1.16390927e+02] [ 1.64886835e-01 1.88351160e-04 9.86312474e-01 4.84532157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80863999999997 meters Centerline goodness : 0.999123 with order 1 Centerline is valid? [True, True] Translation: X:373.37, Y:116.43, Z:48.46 [[ 7.43162259e-01 -6.57365087e-01 -1.24823871e-01 3.73370604e+02] [ 6.48477398e-01 7.53571739e-01 -1.07734391e-01 1.16434251e+02] [ 1.64884568e-01 -8.81325602e-04 9.86312477e-01 4.84636595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86863999999997 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:373.42, Y:116.48, Z:48.47 [[ 7.40614204e-01 -6.60223543e-01 -1.24881843e-01 3.73416876e+02] [ 6.51387360e-01 7.51067435e-01 -1.07667150e-01 1.16476526e+02] [ 1.64879073e-01 -1.60663396e-03 9.86312481e-01 4.84742492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92864 meters Centerline goodness : 0.998782 with order 1 Centerline is valid? [True, True] Translation: X:373.46, Y:116.52, Z:48.48 [[ 7.37300950e-01 -6.63910801e-01 -1.24939013e-01 3.73464300e+02] [ 6.55138128e-01 7.47807534e-01 -1.07600769e-01 1.16516130e+02] [ 1.64867648e-01 -2.51816175e-03 9.86312485e-01 4.84849697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98864 meters Centerline goodness : 0.998440 with order 1 Centerline is valid? [True, True] Translation: X:373.51, Y:116.55, Z:48.50 [[ 7.34863327e-01 -6.66597300e-01 -1.24995722e-01 3.73513388e+02] [ 6.57874233e-01 7.45411127e-01 -1.07534853e-01 1.16553973e+02] [ 1.64855645e-01 -3.20804468e-03 9.86312488e-01 4.84954406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.0486399999999 meters Centerline goodness : 0.997902 with order 1 Centerline is valid? [True, True] Translation: X:373.56, Y:116.59, Z:48.51 [[ 7.31697647e-01 -6.70060175e-01 -1.25051651e-01 3.73561168e+02] [ 6.61398124e-01 7.42295607e-01 -1.07469775e-01 1.16593688e+02] [ 1.64836508e-01 -4.07354604e-03 9.86312492e-01 4.85072882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1086399999999 meters Centerline goodness : 0.998684 with order 1 Centerline is valid? [True, True] Translation: X:373.61, Y:116.63, Z:48.52 [[ 7.29801723e-01 -6.72114378e-01 -1.25106786e-01 3.73612708e+02] [ 6.63493145e-01 7.40432910e-01 -1.07405555e-01 1.16628580e+02] [ 1.64821999e-01 -4.62273552e-03 9.86312496e-01 4.85178873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.1686399999999 meters Centerline goodness : 0.992687 with order 1 Centerline is valid? [True, True] Translation: X:373.66, Y:116.67, Z:48.54 [[ 7.31029029e-01 -6.70768972e-01 -1.25162069e-01 3.73657728e+02] [ 6.62139193e-01 7.41653274e-01 -1.07341094e-01 1.16666447e+02] [ 1.64827934e-01 -4.40525602e-03 9.86312499e-01 4.85441434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.2286399999999 meters Centerline goodness : 0.998487 with order 1 Centerline is valid? [True, True] Translation: X:373.71, Y:116.70, Z:48.54 [[ 7.32750588e-01 -6.68878939e-01 -1.25209991e-01 3.73709832e+02] [ 6.60231296e-01 7.43360295e-01 -1.07285166e-01 1.16704884e+02] [ 1.64836924e-01 -4.05428653e-03 9.86312502e-01 4.85393198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28863999999993 meters Centerline goodness : 0.998000 with order 1 Centerline is valid? [True, True] Translation: X:373.76, Y:116.75, Z:48.55 [[ 7.35787723e-01 -6.65526168e-01 -1.25265106e-01 3.73756768e+02] [ 6.56841123e-01 7.46366830e-01 -1.07220777e-01 1.16745110e+02] [ 1.64851953e-01 -3.38754171e-03 9.86312505e-01 4.85500733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34863999999993 meters Centerline goodness : 0.998538 with order 1 Centerline is valid? [True, True] Translation: X:373.81, Y:116.78, Z:48.56 [[ 7.36885825e-01 -6.64299739e-01 -1.25320137e-01 3.73805672e+02] [ 6.55608022e-01 7.47459446e-01 -1.07156419e-01 1.16784016e+02] [ 1.64855701e-01 -3.19884094e-03 9.86312509e-01 4.85611023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40863999999993 meters Centerline goodness : 0.997757 with order 1 Centerline is valid? [True, True] Translation: X:373.85, Y:116.82, Z:48.57 [[ 7.41065600e-01 -6.59623178e-01 -1.25375597e-01 3.73852738e+02] [ 6.50875700e-01 7.51593132e-01 -1.07091490e-01 1.16823806e+02] [ 1.64871467e-01 -2.24211031e-03 9.86312513e-01 4.85701045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46863999999994 meters Centerline goodness : 0.998341 with order 1 Centerline is valid? [True, True] Translation: X:373.90, Y:116.87, Z:48.58 [[ 7.44176861e-01 -6.56101747e-01 -1.25424465e-01 3.73899515e+02] [ 6.47314095e-01 7.54670879e-01 -1.07034228e-01 1.16865276e+02] [ 1.64879535e-01 -1.53662832e-03 9.86312515e-01 4.85803998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52863999999994 meters Centerline goodness : 0.998731 with order 1 Centerline is valid? [True, True] Translation: X:373.94, Y:116.91, Z:48.59 [[ 7.50955204e-01 -6.48321513e-01 -1.25481066e-01 3.73943017e+02] [ 6.39436217e-01 7.61366671e-01 -1.06967831e-01 1.16910714e+02] [ 1.64886647e-01 9.09106457e-05 9.86312519e-01 4.85908123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58863999999994 meters Centerline goodness : 0.998537 with order 1 Centerline is valid? [True, True] Translation: X:373.99, Y:116.95, Z:48.60 [[ 7.53012197e-01 -6.45920072e-01 -1.25538412e-01 3.73987167e+02] [ 6.37012797e-01 7.63404861e-01 -1.06900488e-01 1.16954372e+02] [ 1.64885805e-01 5.27796815e-04 9.86312523e-01 4.85993530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64863999999994 meters Centerline goodness : 0.998781 with order 1 Centerline is valid? [True, True] Translation: X:374.03, Y:117.00, Z:48.61 [[ 7.52718733e-01 -6.46252139e-01 -1.25589339e-01 3.74029378e+02] [ 6.37359434e-01 7.63123864e-01 -1.06840625e-01 1.16998773e+02] [ 1.64886204e-01 3.75390328e-04 9.86312526e-01 4.86103190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70863999999995 meters Centerline goodness : 0.998879 with order 1 Centerline is valid? [True, True] Translation: X:374.07, Y:117.04, Z:48.62 [[ 7.49415896e-01 -6.50069622e-01 -1.25639572e-01 3.74072347e+02] [ 6.41239825e-01 7.59874459e-01 -1.06781521e-01 1.17042201e+02] [ 1.64885725e-01 -5.41327339e-04 9.86312529e-01 4.86214184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76863999999995 meters Centerline goodness : 0.997806 with order 1 Centerline is valid? [True, True] Translation: X:374.12, Y:117.09, Z:48.63 [[ 7.47754445e-01 -6.51970367e-01 -1.25689819e-01 3.74116705e+02] [ 6.43177098e-01 7.58243735e-01 -1.06722345e-01 1.17085119e+02] [ 1.64883324e-01 -1.03870557e-03 9.86312532e-01 4.86336251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82863999999995 meters Centerline goodness : 0.998392 with order 1 Centerline is valid? [True, True] Translation: X:374.16, Y:117.13, Z:48.64 [[ 7.45451442e-01 -6.54591325e-01 -1.25747151e-01 3.74163835e+02] [ 6.45846330e-01 7.55981007e-01 -1.06654751e-01 1.17125478e+02] [ 1.64877732e-01 -1.70739821e-03 9.86312536e-01 4.86449864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88863999999995 meters Centerline goodness : 0.998045 with order 1 Centerline is valid? [True, True] Translation: X:374.21, Y:117.16, Z:48.66 [[ 7.42875233e-01 -6.57502799e-01 -1.25803247e-01 3.74212496e+02] [ 6.48810272e-01 7.53448149e-01 -1.06588543e-01 1.17164973e+02] [ 1.64868489e-01 -2.44044974e-03 9.86312539e-01 4.86550215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94863999999995 meters Centerline goodness : 0.998197 with order 1 Centerline is valid? [True, True] Translation: X:374.26, Y:117.20, Z:48.66 [[ 7.40297589e-01 -6.60393053e-01 -1.25859031e-01 3.74261570e+02] [ 6.51752994e-01 7.50913419e-01 -1.06522633e-01 1.17201551e+02] [ 1.64856043e-01 -3.17055206e-03 9.86312543e-01 4.86646947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00863999999996 meters Centerline goodness : 0.997954 with order 1 Centerline is valid? [True, True] Translation: X:374.31, Y:117.24, Z:48.68 [[ 7.40257673e-01 -6.60428542e-01 -1.25907579e-01 3.74312813e+02] [ 6.51798749e-01 7.50881847e-01 -1.06465221e-01 1.17237636e+02] [ 1.64854386e-01 -3.25470548e-03 9.86312546e-01 4.86758725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06863999999996 meters Centerline goodness : 0.998538 with order 1 Centerline is valid? [True, True] Translation: X:374.36, Y:117.28, Z:48.69 [[ 7.42519176e-01 -6.57874369e-01 -1.25962645e-01 3.74361039e+02] [ 6.49219077e-01 7.53122582e-01 -1.06400031e-01 1.17275989e+02] [ 1.64863166e-01 -2.77328871e-03 9.86312550e-01 4.86873185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12863999999996 meters Centerline goodness : 0.996434 with order 1 Centerline is valid? [True, True] Translation: X:374.41, Y:117.32, Z:48.70 [[ 7.45467310e-01 -6.54521218e-01 -1.26017714e-01 3.74407707e+02] [ 6.45829252e-01 7.56040669e-01 -1.06334770e-01 1.17315608e+02] [ 1.64872880e-01 -2.11683073e-03 9.86312553e-01 4.86976020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18863999999996 meters Centerline goodness : 0.998098 with order 1 Centerline is valid? [True, True] Translation: X:374.46, Y:117.35, Z:48.71 [[ 7.46814392e-01 -6.52974416e-01 -1.26066156e-01 3.74456871e+02] [ 6.44270245e-01 7.57377703e-01 -1.06277309e-01 1.17354289e+02] [ 1.64876059e-01 -1.85124917e-03 9.86312556e-01 4.87081760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24863999999997 meters Centerline goodness : 0.998244 with order 1 Centerline is valid? [True, True] Translation: X:374.50, Y:117.40, Z:48.72 [[ 7.46546766e-01 -6.53269566e-01 -1.26122163e-01 3.74503873e+02] [ 6.44580802e-01 7.57122748e-01 -1.06210803e-01 1.17395332e+02] [ 1.64874244e-01 -2.00459318e-03 9.86312560e-01 4.87191654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30863999999997 meters Centerline goodness : 0.997758 with order 1 Centerline is valid? [True, True] Translation: X:374.55, Y:117.43, Z:48.73 [[ 7.46333308e-01 -6.53502531e-01 -1.26178584e-01 3.74552196e+02] [ 6.44828401e-01 7.56921292e-01 -1.06143733e-01 1.17434221e+02] [ 1.64872455e-01 -2.14493083e-03 9.86312563e-01 4.87294238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36863999999997 meters Centerline goodness : 0.998293 with order 1 Centerline is valid? [True, True] Translation: X:374.60, Y:117.47, Z:48.74 [[ 7.45942167e-01 -6.53938110e-01 -1.26234829e-01 3.74599843e+02] [ 6.45281483e-01 7.56544460e-01 -1.06076801e-01 1.17473758e+02] [ 1.64869923e-01 -2.32983857e-03 9.86312567e-01 4.87408350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42864 meters Centerline goodness : 0.997754 with order 1 Centerline is valid? [True, True] Translation: X:374.65, Y:117.51, Z:48.75 [[ 7.46391707e-01 -6.53414133e-01 -1.26290898e-01 3.74648018e+02] [ 6.44761359e-01 7.56997139e-01 -1.06010006e-01 1.17512696e+02] [ 1.64870285e-01 -2.30250178e-03 9.86312571e-01 4.87523007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48864 meters Centerline goodness : 0.998194 with order 1 Centerline is valid? [True, True] Translation: X:374.70, Y:117.55, Z:48.76 [[ 7.47277292e-01 -6.52390410e-01 -1.26346355e-01 3.74695169e+02] [ 6.43734283e-01 7.57879984e-01 -1.05943871e-01 1.17553711e+02] [ 1.64872139e-01 -2.16403137e-03 9.86312575e-01 4.87618187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.5486399999999 meters Centerline goodness : 0.998829 with order 1 Centerline is valid? [True, True] Translation: X:374.74, Y:117.59, Z:48.77 [[ 7.49075667e-01 -6.50313828e-01 -1.26402417e-01 3.74743347e+02] [ 6.41639595e-01 7.59663546e-01 -1.05876941e-01 1.17593118e+02] [ 1.64876547e-01 -1.79495542e-03 9.86312578e-01 4.87724045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6086399999999 meters Centerline goodness : 0.997755 with order 1 Centerline is valid? [True, True] Translation: X:374.79, Y:117.63, Z:48.78 [[ 7.50045509e-01 -6.49184171e-01 -1.26458078e-01 3.74790415e+02] [ 6.40505203e-01 7.60629503e-01 -1.05810419e-01 1.17633970e+02] [ 1.64878195e-01 -1.63442724e-03 9.86312582e-01 4.87832544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.6686399999999 meters Centerline goodness : 0.998001 with order 1 Centerline is valid? [True, True] Translation: X:374.84, Y:117.67, Z:48.79 [[ 7.50472379e-01 -6.48679680e-01 -1.26514350e-01 3.74836911e+02] [ 6.40004942e-01 7.61059835e-01 -1.05743095e-01 1.17674489e+02] [ 1.64878387e-01 -1.61253743e-03 9.86312586e-01 4.87944402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.7286399999999 meters Centerline goodness : 0.997758 with order 1 Centerline is valid? [True, True] Translation: X:374.89, Y:117.71, Z:48.81 [[ 7.47132477e-01 -6.52512776e-01 -1.26570689e-01 3.74887672e+02] [ 6.43903771e-01 7.57773447e-01 -1.05675617e-01 1.17711068e+02] [ 1.64866598e-01 -2.54565895e-03 9.86312590e-01 4.88053996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78863999999993 meters Centerline goodness : 0.998099 with order 1 Centerline is valid? [True, True] Translation: X:374.94, Y:117.75, Z:48.82 [[ 7.47158033e-01 -6.52472686e-01 -1.26626489e-01 3.74936363e+02] [ 6.43874443e-01 7.57807695e-01 -1.05608713e-01 1.17749432e+02] [ 1.64865328e-01 -2.62516219e-03 9.86312593e-01 4.88166584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84863999999993 meters Centerline goodness : 0.997853 with order 1 Centerline is valid? [True, True] Translation: X:374.99, Y:117.79, Z:48.83 [[ 7.50703259e-01 -6.48379771e-01 -1.26681847e-01 3.74985692e+02] [ 6.39734663e-01 7.61314909e-01 -1.05542268e-01 1.17785392e+02] [ 1.64876250e-01 -1.81184453e-03 9.86312597e-01 4.88300062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90863999999993 meters Centerline goodness : 0.998147 with order 1 Centerline is valid? [True, True] Translation: X:375.03, Y:117.82, Z:48.84 [[ 7.53180067e-01 -6.45491410e-01 -1.26730525e-01 3.75033319e+02] [ 6.36815443e-01 7.63766498e-01 -1.05483786e-01 1.17824717e+02] [ 1.64881407e-01 -1.25566978e-03 9.86312600e-01 4.88415637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96863999999994 meters Centerline goodness : 0.998439 with order 1 Centerline is valid? [True, True] Translation: X:375.08, Y:117.86, Z:48.85 [[ 7.53895098e-01 -6.44645056e-01 -1.26786957e-01 3.75080745e+02] [ 6.35968615e-01 7.64481135e-01 -1.05415915e-01 1.17864271e+02] [ 1.64882085e-01 -1.15998413e-03 9.86312604e-01 4.88523828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02863999999994 meters Centerline goodness : 0.998682 with order 1 Centerline is valid? [True, True] Translation: X:375.13, Y:117.91, Z:48.86 [[ 7.52670436e-01 -6.46063260e-01 -1.26844312e-01 3.75126558e+02] [ 6.37418398e-01 7.63282272e-01 -1.05346857e-01 1.17905837e+02] [ 1.64878748e-01 -1.56143332e-03 9.86312608e-01 4.88646411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08863999999994 meters Centerline goodness : 0.999025 with order 1 Centerline is valid? [True, True] Translation: X:375.17, Y:117.95, Z:48.87 [[ 7.52394085e-01 -6.46373992e-01 -1.26900761e-01 3.75171004e+02] [ 6.37744983e-01 7.63018812e-01 -1.05278815e-01 1.17948971e+02] [ 1.64877156e-01 -1.71916597e-03 9.86312612e-01 4.88725632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14863999999994 meters Centerline goodness : 0.999122 with order 1 Centerline is valid? [True, True] Translation: X:375.22, Y:117.99, Z:48.88 [[ 7.53191901e-01 -6.45434531e-01 -1.26949701e-01 3.75216202e+02] [ 6.36802219e-01 7.63813940e-01 -1.05219768e-01 1.17991698e+02] [ 1.64878423e-01 -1.59117423e-03 9.86312615e-01 4.88840465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20863999999995 meters Centerline goodness : 0.999171 with order 1 Centerline is valid? [True, True] Translation: X:375.26, Y:118.03, Z:48.89 [[ 7.52897477e-01 -6.45767047e-01 -1.27005154e-01 3.75263039e+02] [ 6.37150720e-01 7.63532482e-01 -1.05152793e-01 1.18031964e+02] [ 1.64876769e-01 -1.75215292e-03 9.86312618e-01 4.88945049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26863999999995 meters Centerline goodness : 0.999316 with order 1 Centerline is valid? [True, True] Translation: X:375.31, Y:118.07, Z:48.91 [[ 7.50618693e-01 -6.48403547e-01 -1.27060684e-01 3.75311029e+02] [ 6.39835929e-01 7.61292972e-01 -1.05085652e-01 1.18071690e+02] [ 1.64868315e-01 -2.41873638e-03 9.86312622e-01 4.89053250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32863999999995 meters Centerline goodness : 0.998683 with order 1 Centerline is valid? [True, True] Translation: X:375.36, Y:118.11, Z:48.92 [[ 7.48740429e-01 -6.50560788e-01 -1.27115817e-01 3.75359087e+02] [ 6.42035241e-01 7.59448336e-01 -1.05018919e-01 1.18111002e+02] [ 1.64859087e-01 -2.98092404e-03 9.86312626e-01 4.89156244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38863999999995 meters Centerline goodness : 0.998925 with order 1 Centerline is valid? [True, True] Translation: X:375.41, Y:118.15, Z:48.93 [[ 7.46971982e-01 -6.52579799e-01 -1.27171002e-01 3.75409509e+02] [ 6.44094564e-01 7.57711857e-01 -1.04952052e-01 1.18145615e+02] [ 1.64848565e-01 -3.51390871e-03 9.86312629e-01 4.89283121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44863999999995 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:375.46, Y:118.18, Z:48.94 [[ 7.47399157e-01 -6.52081186e-01 -1.27218814e-01 3.75459067e+02] [ 6.43598648e-01 7.58141158e-01 -1.04894066e-01 1.18181660e+02] [ 1.64849265e-01 -3.48012017e-03 9.86312632e-01 4.89371046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50863999999996 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:375.51, Y:118.22, Z:48.95 [[ 7.49416200e-01 -6.49752758e-01 -1.27266308e-01 3.75508068e+02] [ 6.41246625e-01 7.60139522e-01 -1.04836411e-01 1.18220357e+02] [ 1.64857897e-01 -3.04298591e-03 9.86312635e-01 4.89477818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56863999999996 meters Centerline goodness : 0.998975 with order 1 Centerline is valid? [True, True] Translation: X:375.56, Y:118.26, Z:48.96 [[ 7.53509951e-01 -6.44989865e-01 -1.27321746e-01 3.75557315e+02] [ 6.36427316e-01 7.64188275e-01 -1.04769040e-01 1.18259017e+02] [ 1.64872754e-01 -2.08652315e-03 9.86312639e-01 4.89573636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62863999999996 meters Centerline goodness : 0.999269 with order 1 Centerline is valid? [True, True] Translation: X:375.61, Y:118.30, Z:48.97 [[ 7.56705713e-01 -6.41226621e-01 -1.27376936e-01 3.75606003e+02] [ 6.32622259e-01 7.67350370e-01 -1.04701898e-01 1.18297239e+02] [ 1.64880383e-01 -1.35296022e-03 9.86312642e-01 4.89658447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68863999999996 meters Centerline goodness : 0.999561 with order 1 Centerline is valid? [True, True] Translation: X:375.65, Y:118.34, Z:48.98 [[ 7.57313721e-01 -6.40498737e-01 -1.27425649e-01 3.75654367e+02] [ 6.31894122e-01 7.67958169e-01 -1.04642580e-01 1.18335816e+02] [ 1.64881008e-01 -1.27225699e-03 9.86312645e-01 4.89764200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74863999999997 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:375.70, Y:118.37, Z:48.99 [[ 7.58940127e-01 -6.38559621e-01 -1.27481350e-01 3.75702775e+02] [ 6.29939211e-01 7.69571782e-01 -1.04574679e-01 1.18373970e+02] [ 1.64883217e-01 -9.39581096e-04 9.86312649e-01 4.89863545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80863999999997 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:375.75, Y:118.41, Z:49.00 [[ 7.60777232e-01 -6.36359967e-01 -1.27530372e-01 3.75750516e+02] [ 6.27718841e-01 7.71392054e-01 -1.04514862e-01 1.18413012e+02] [ 1.64884990e-01 -5.40689867e-04 9.86312652e-01 4.89952167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86863999999997 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.80, Y:118.45, Z:49.01 [[ 7.62226319e-01 -6.34613638e-01 -1.27579656e-01 3.75798023e+02] [ 6.25958266e-01 7.72829523e-01 -1.04454668e-01 1.18452476e+02] [ 1.64885682e-01 -2.41443129e-04 9.86312655e-01 4.90063653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:375.85, Y:118.49, Z:49.02 [[ 7.63256030e-01 -6.33363477e-01 -1.27635963e-01 3.75846554e+02] [ 6.24702248e-01 7.73854445e-01 -1.04385821e-01 1.18491141e+02] [ 1.64885824e-01 -6.13656287e-05 9.86312659e-01 4.90154001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98864 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.89, Y:118.53, Z:49.03 [[ 7.64300591e-01 -6.32099009e-01 -1.27653633e-01 3.75894584e+02] [ 6.23423855e-01 7.74887611e-01 -1.04364208e-01 1.18530909e+02] [ 1.64885731e-01 1.83306394e-04 9.86312659e-01 4.90263322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.0486399999999 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:375.94, Y:118.57, Z:49.04 [[ 7.64400640e-01 -6.31966602e-01 -1.27710125e-01 3.75944596e+02] [ 6.23301169e-01 7.74995612e-01 -1.04295034e-01 1.18568596e+02] [ 1.64885765e-01 1.21320513e-04 9.86312663e-01 4.90361981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1086399999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:375.99, Y:118.61, Z:49.04 [[ 7.66755456e-01 -6.29095965e-01 -1.27766730e-01 3.75993644e+02] [ 6.20402425e-01 7.77327374e-01 -1.04225646e-01 1.18608075e+02] [ 1.64884509e-01 6.48793604e-04 9.86312667e-01 4.90444372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.1686399999999 meters Centerline goodness : 1.000000 with order 1 Centerline is valid? [True, True] Translation: X:376.04, Y:118.65, Z:49.06 [[ 7.70688585e-01 -6.24259685e-01 -1.27823902e-01 3.76039575e+02] [ 6.15511439e-01 7.81215274e-01 -1.04155482e-01 1.18648637e+02] [ 1.64878053e-01 1.59436703e-03 9.86312671e-01 4.90550372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.2286399999999 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:376.09, Y:118.69, Z:49.06 [[ 7.72277915e-01 -6.22282243e-01 -1.27873499e-01 3.76085696e+02] [ 6.13517128e-01 7.82790558e-01 -1.04094556e-01 1.18689439e+02] [ 1.64874362e-01 1.93734475e-03 9.86312674e-01 4.90644268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28863999999993 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:376.13, Y:118.73, Z:49.07 [[ 7.71659893e-01 -6.23038331e-01 -1.27922814e-01 3.76131890e+02] [ 6.14293566e-01 7.82189465e-01 -1.04033918e-01 1.18730632e+02] [ 1.64876996e-01 1.69663998e-03 9.86312677e-01 4.90745754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34863999999993 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:376.18, Y:118.77, Z:49.08 [[ 7.68885912e-01 -6.26454816e-01 -1.27940680e-01 3.76176047e+02] [ 6.17760495e-01 7.79457174e-01 -1.04011942e-01 1.18773783e+02] [ 1.64883063e-01 9.36618705e-04 9.86312678e-01 4.90845863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40863999999993 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:376.22, Y:118.82, Z:49.09 [[ 7.67948125e-01 -6.27593960e-01 -1.27990230e-01 3.76222044e+02] [ 6.18925486e-01 7.78540588e-01 -1.03950934e-01 1.18816646e+02] [ 1.64884567e-01 6.12509869e-04 9.86312681e-01 4.90947832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46863999999994 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:376.27, Y:118.86, Z:49.10 [[ 7.65558311e-01 -6.30495389e-01 -1.28047012e-01 3.76269241e+02] [ 6.21878763e-01 7.76192988e-01 -1.03880944e-01 1.18856392e+02] [ 1.64885649e-01 -1.02797296e-04 9.86312685e-01 4.91046958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52863999999994 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:376.32, Y:118.89, Z:49.12 [[ 7.60069554e-01 -6.37091433e-01 -1.28096754e-01 3.76319680e+02] [ 6.28577424e-01 7.70786558e-01 -1.03819571e-01 1.18891721e+02] [ 1.64877815e-01 -1.60863277e-03 9.86312688e-01 4.91153395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58863999999994 meters Centerline goodness : 0.997659 with order 1 Centerline is valid? [True, True] Translation: X:376.37, Y:118.93, Z:49.15 [[ 7.58266345e-01 -6.39226823e-01 -1.28145299e-01 3.76366924e+02] [ 6.30753120e-01 7.69015242e-01 -1.03759617e-01 1.18925557e+02] [ 1.64871619e-01 -2.15062177e-03 9.86312691e-01 4.91459907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64863999999994 meters Centerline goodness : 0.999610 with order 1 Centerline is valid? [True, True] Translation: X:376.42, Y:118.96, Z:49.14 [[ 7.56942376e-01 -6.40784491e-01 -1.28193115e-01 3.76421012e+02] [ 6.32342911e-01 7.67716515e-01 -1.03700509e-01 1.18961513e+02] [ 1.64865649e-01 -2.56669709e-03 9.86312694e-01 4.91359249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70863999999995 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:376.47, Y:119.00, Z:49.15 [[ 7.56867423e-01 -6.40869697e-01 -1.28209732e-01 3.76473993e+02] [ 6.32432808e-01 7.67645236e-01 -1.03679960e-01 1.18995607e+02] [ 1.64864935e-01 -2.61205647e-03 9.86312694e-01 4.91457147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:376.52, Y:119.03, Z:49.16 [[ 7.57300957e-01 -6.40346400e-01 -1.28264369e-01 3.76524565e+02] [ 6.31913513e-01 7.68081896e-01 -1.03612325e-01 1.19030753e+02] [ 1.64865319e-01 -2.58627556e-03 9.86312698e-01 4.91565903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82863999999995 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:376.57, Y:119.07, Z:49.17 [[ 7.58337602e-01 -6.39108846e-01 -1.28311979e-01 3.76574476e+02] [ 6.30668340e-01 7.69112574e-01 -1.03553333e-01 1.19067771e+02] [ 1.64868207e-01 -2.39391665e-03 9.86312701e-01 4.91651628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88863999999995 meters Centerline goodness : 0.999951 with order 1 Centerline is valid? [True, True] Translation: X:376.62, Y:119.10, Z:49.18 [[ 7.59944513e-01 -6.37187692e-01 -1.28359581e-01 3.76623438e+02] [ 6.28729912e-01 7.70705928e-01 -1.03494295e-01 1.19103859e+02] [ 1.64872781e-01 -2.05358641e-03 9.86312703e-01 4.91763069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94863999999995 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:376.67, Y:119.14, Z:49.20 [[ 7.61526430e-01 -6.35286583e-01 -1.28407372e-01 3.76670225e+02] [ 6.26811937e-01 7.72274565e-01 -1.03434966e-01 1.19139232e+02] [ 1.64876594e-01 -1.71881377e-03 9.86312706e-01 4.92003613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00863999999996 meters Centerline goodness : 0.999073 with order 1 Centerline is valid? [True, True] Translation: X:376.72, Y:119.18, Z:49.21 [[ 7.63003789e-01 -6.33501733e-01 -1.28455335e-01 3.76717282e+02] [ 6.25011974e-01 7.73739986e-01 -1.03375368e-01 1.19178153e+02] [ 1.64879504e-01 -1.41032521e-03 9.86312709e-01 4.92095783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06863999999996 meters Centerline goodness : 0.999903 with order 1 Centerline is valid? [True, True] Translation: X:376.77, Y:119.22, Z:49.20 [[ 7.63633965e-01 -6.32732195e-01 -1.28503450e-01 3.76769031e+02] [ 6.24241685e-01 7.74369564e-01 -1.03315523e-01 1.19217320e+02] [ 1.64880218e-01 -1.32196793e-03 9.86312712e-01 4.92038061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12863999999996 meters Centerline goodness : 0.999854 with order 1 Centerline is valid? [True, True] Translation: X:376.82, Y:119.25, Z:49.22 [[ 7.62352094e-01 -6.34264680e-01 -1.28559714e-01 3.76819903e+02] [ 6.25807559e-01 7.73114010e-01 -1.03245466e-01 1.19252164e+02] [ 1.64876268e-01 -1.74424357e-03 9.86312716e-01 4.92154756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18863999999996 meters Centerline goodness : 0.999512 with order 1 Centerline is valid? [True, True] Translation: X:376.87, Y:119.29, Z:49.24 [[ 7.63504677e-01 -6.32867013e-01 -1.28607748e-01 3.76866998e+02] [ 6.24400271e-01 7.74259022e-01 -1.03185597e-01 1.19288125e+02] [ 1.64878470e-01 -1.52002706e-03 9.86312719e-01 4.92406007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24863999999997 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:376.92, Y:119.33, Z:49.25 [[ 7.65331128e-01 -6.30647194e-01 -1.28656057e-01 3.76915625e+02] [ 6.22159388e-01 7.76068852e-01 -1.03125329e-01 1.19325874e+02] [ 1.64881658e-01 -1.11954952e-03 9.86312722e-01 4.92524159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30863999999997 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:376.96, Y:119.37, Z:49.25 [[ 7.70255908e-01 -6.24612551e-01 -1.28705079e-01 3.76962583e+02] [ 6.16050840e-01 7.80934793e-01 -1.03064112e-01 1.19369693e+02] [ 1.64885412e-01 9.68688570e-05 9.86312725e-01 4.92469891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36863999999997 meters Centerline goodness : 0.999023 with order 1 Centerline is valid? [True, True] Translation: X:377.00, Y:119.41, Z:49.27 [[ 7.75212715e-01 -6.18439555e-01 -1.28754664e-01 3.77004059e+02] [ 6.09803102e-01 7.85831240e-01 -1.03002130e-01 1.19412576e+02] [ 1.64880029e-01 1.33356733e-03 9.86312728e-01 4.92717744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42864 meters Centerline goodness : 0.999902 with order 1 Centerline is valid? [True, True] Translation: X:377.05, Y:119.46, Z:49.27 [[ 7.75970502e-01 -6.17484815e-01 -1.28772217e-01 3.77049318e+02] [ 6.08838939e-01 7.86581356e-01 -1.02980182e-01 1.19459851e+02] [ 1.64878524e-01 1.50804371e-03 9.86312728e-01 4.92658268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48864 meters Centerline goodness : 0.998683 with order 1 Centerline is valid? [True, True] Translation: X:377.09, Y:119.50, Z:49.29 [[ 7.76214307e-01 -6.17166297e-01 -1.28829773e-01 3.77091988e+02] [ 6.08528021e-01 7.86831344e-01 -1.02908128e-01 1.19500687e+02] [ 1.64878732e-01 1.48223449e-03 9.86312733e-01 4.92918807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.5486399999999 meters Centerline goodness : 0.999658 with order 1 Centerline is valid? [True, True] Translation: X:377.14, Y:119.55, Z:49.29 [[ 7.74554665e-01 -6.19237602e-01 -1.28879262e-01 3.77136517e+02] [ 6.10638034e-01 7.85203075e-01 -1.02846114e-01 1.19547725e+02] [ 1.64882574e-01 9.61357616e-04 9.86312736e-01 4.92864896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6086399999999 meters Centerline goodness : 0.998291 with order 1 Centerline is valid? [True, True] Translation: X:377.18, Y:119.59, Z:49.31 [[ 7.75396976e-01 -6.18172014e-01 -1.28929789e-01 3.77178643e+02] [ 6.09568349e-01 7.86042071e-01 -1.02782734e-01 1.19590093e+02] [ 1.64881648e-01 1.10590229e-03 9.86312739e-01 4.93093110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.6686399999999 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:377.22, Y:119.64, Z:49.30 [[ 7.74602309e-01 -6.19164503e-01 -1.28944099e-01 3.77222274e+02] [ 6.10577466e-01 7.85260822e-01 -1.02764778e-01 1.19635019e+02] [ 1.64883052e-01 8.71473310e-04 9.86312739e-01 4.93047727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.7286399999999 meters Centerline goodness : 0.999707 with order 1 Centerline is valid? [True, True] Translation: X:377.27, Y:119.68, Z:49.32 [[ 7.75528622e-01 -6.18003574e-01 -1.28945491e-01 3.77269113e+02] [ 6.09400871e-01 7.86174495e-01 -1.02763033e-01 1.19676390e+02] [ 1.64881577e-01 1.11617882e-03 9.86312739e-01 4.93158762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78863999999993 meters Centerline goodness : 0.996443 with order 1 Centerline is valid? [True, True] Translation: X:377.31, Y:119.72, Z:49.34 [[ 7.79364733e-01 -6.13147050e-01 -1.29001193e-01 3.77308711e+02] [ 6.04489590e-01 7.89966120e-01 -1.02693061e-01 1.19720714e+02] [ 1.64872519e-01 2.05547188e-03 9.86312743e-01 4.93416792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84863999999993 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:377.35, Y:119.77, Z:49.34 [[ 7.79127529e-01 -6.13445537e-01 -1.29014985e-01 3.77351553e+02] [ 6.04795008e-01 7.89734571e-01 -1.02675732e-01 1.19768637e+02] [ 1.64873563e-01 1.96987060e-03 9.86312743e-01 4.93358936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90863999999993 meters Centerline goodness : 0.999756 with order 1 Centerline is valid? [True, True] Translation: X:377.39, Y:119.81, Z:49.35 [[ 7.77614351e-01 -6.15361045e-01 -1.29022112e-01 3.77393890e+02] [ 6.06738131e-01 7.88243855e-01 -1.02666775e-01 1.19814223e+02] [ 1.64878021e-01 1.55252239e-03 9.86312743e-01 4.93457159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96863999999994 meters Centerline goodness : 0.999318 with order 1 Centerline is valid? [True, True] Translation: X:377.44, Y:119.86, Z:49.35 [[ 7.74934085e-01 -6.18722828e-01 -1.29070626e-01 3.77440428e+02] [ 6.10156189e-01 7.85608990e-01 -1.02605748e-01 1.19856011e+02] [ 1.64883563e-01 7.59449836e-04 9.86312746e-01 4.93543403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02863999999994 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:377.49, Y:119.90, Z:49.36 [[ 7.70884756e-01 -6.23749274e-01 -1.29126050e-01 3.77487428e+02] [ 6.15263925e-01 7.81624386e-01 -1.02535952e-01 1.19895050e+02] [ 1.64884796e-01 -4.03198242e-04 9.86312750e-01 4.93642010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08863999999994 meters Centerline goodness : 0.999805 with order 1 Centerline is valid? [True, True] Translation: X:377.54, Y:119.93, Z:49.38 [[ 7.67549958e-01 -6.27838430e-01 -1.29174176e-01 3.77537382e+02] [ 6.19420499e-01 7.78342509e-01 -1.02475288e-01 1.19930997e+02] [ 1.64879677e-01 -1.35822931e-03 9.86312753e-01 4.93755935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14863999999994 meters Centerline goodness : 0.999513 with order 1 Centerline is valid? [True, True] Translation: X:377.59, Y:119.97, Z:49.39 [[ 7.63894883e-01 -6.32270810e-01 -1.29221634e-01 3.77588867e+02] [ 6.23925615e-01 7.74743771e-01 -1.02415409e-01 1.19966500e+02] [ 1.64867930e-01 -2.39008067e-03 9.86312756e-01 4.93851246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20863999999995 meters Centerline goodness : 0.999463 with order 1 Centerline is valid? [True, True] Translation: X:377.64, Y:120.00, Z:49.39 [[ 7.63134430e-01 -6.33177512e-01 -1.29275209e-01 3.77641357e+02] [ 6.24856663e-01 7.74001997e-01 -1.02347741e-01 1.20001250e+02] [ 1.64863558e-01 -2.67339060e-03 9.86312760e-01 4.93947145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26863999999995 meters Centerline goodness : 0.998538 with order 1 Centerline is valid? [True, True] Translation: X:377.69, Y:120.04, Z:49.41 [[ 7.64052214e-01 -6.32058868e-01 -1.29328272e-01 3.77689975e+02] [ 6.23733457e-01 7.74916282e-01 -1.02280646e-01 1.20038702e+02] [ 1.64865973e-01 -2.51861673e-03 9.86312764e-01 4.94057001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32863999999995 meters Centerline goodness : 0.998148 with order 1 Centerline is valid? [True, True] Translation: X:377.74, Y:120.08, Z:49.42 [[ 7.67416182e-01 -6.27960708e-01 -1.29374470e-01 3.77737440e+02] [ 6.19587126e-01 7.78243162e-01 -1.02222178e-01 1.20077381e+02] [ 1.64876308e-01 -1.71180228e-03 9.86312766e-01 4.94163122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38863999999995 meters Centerline goodness : 0.998439 with order 1 Centerline is valid? [True, True] Translation: X:377.78, Y:120.12, Z:49.43 [[ 7.70879945e-01 -6.23694147e-01 -1.29420715e-01 3.77782272e+02] [ 6.15270470e-01 7.81667991e-01 -1.02163595e-01 1.20120964e+02] [ 1.64882867e-01 -8.72877443e-04 9.86312769e-01 4.94259581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44863999999995 meters Centerline goodness : 0.997856 with order 1 Centerline is valid? [True, True] Translation: X:377.83, Y:120.16, Z:49.44 [[ 7.71700913e-01 -6.22666955e-01 -1.29474181e-01 3.77828888e+02] [ 6.14240291e-01 7.82486622e-01 -1.02095792e-01 1.20162517e+02] [ 1.64883491e-01 -7.40842958e-04 9.86312773e-01 4.94359658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50863999999996 meters Centerline goodness : 0.998050 with order 1 Centerline is valid? [True, True] Translation: X:377.88, Y:120.20, Z:49.45 [[ 7.70062184e-01 -6.24681137e-01 -1.29528799e-01 3.77877811e+02] [ 6.16294342e-01 7.80878920e-01 -1.02026452e-01 1.20200342e+02] [ 1.64880309e-01 -1.26115337e-03 9.86312777e-01 4.94456067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56863999999996 meters Centerline goodness : 0.997414 with order 1 Centerline is valid? [True, True] Translation: X:377.93, Y:120.24, Z:49.46 [[ 7.66602607e-01 -6.28911460e-01 -1.29579394e-01 3.77927870e+02] [ 6.20595210e-01 7.77473668e-01 -1.01962154e-01 1.20236935e+02] [ 1.64869734e-01 -2.25189810e-03 9.86312780e-01 4.94564902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62863999999996 meters Centerline goodness : 0.997464 with order 1 Centerline is valid? [True, True] Translation: X:377.98, Y:120.27, Z:49.46 [[ 7.63094388e-01 -6.33152692e-01 -1.29632648e-01 3.77978515e+02] [ 6.24908351e-01 7.74020080e-01 -1.01894405e-01 1.20272213e+02] [ 1.64852989e-01 -3.25347582e-03 9.86312783e-01 4.94640603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68863999999996 meters Centerline goodness : 0.988831 with order 1 Centerline is valid? [True, True] Translation: X:378.03, Y:120.30, Z:49.49 [[ 7.60894333e-01 -6.35785580e-01 -1.29678485e-01 3.78028534e+02] [ 6.27588976e-01 7.71855880e-01 -1.01836037e-01 1.20302886e+02] [ 1.64838985e-01 -3.89832412e-03 9.86312786e-01 4.94909119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74863999999997 meters Centerline goodness : 0.996046 with order 1 Centerline is valid? [True, True] Translation: X:378.08, Y:120.34, Z:49.48 [[ 7.61137544e-01 -6.35485145e-01 -1.29723820e-01 3.78082605e+02] [ 6.27294052e-01 7.72103205e-01 -1.01778255e-01 1.20337668e+02] [ 1.64838746e-01 -3.90772976e-03 9.86312789e-01 4.94844626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80863999999997 meters Centerline goodness : 0.996923 with order 1 Centerline is valid? [True, True] Translation: X:378.14, Y:120.37, Z:49.49 [[ 7.61788556e-01 -6.34695242e-01 -1.29769586e-01 3.78136303e+02] [ 6.26502713e-01 7.72753142e-01 -1.01719869e-01 1.20371451e+02] [ 1.64840972e-01 -3.81196547e-03 9.86312792e-01 4.94915796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86863999999997 meters Centerline goodness : 0.994926 with order 1 Centerline is valid? [True, True] Translation: X:378.19, Y:120.41, Z:49.50 [[ 7.64638655e-01 -6.31247661e-01 -1.29823410e-01 3.78187864e+02] [ 6.23017349e-01 7.75574904e-01 -1.01651128e-01 1.20405723e+02] [ 1.64854816e-01 -3.15585507e-03 9.86312795e-01 4.95006985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92864 meters Centerline goodness : 0.995162 with order 1 Centerline is valid? [True, True] Translation: X:378.24, Y:120.44, Z:49.51 [[ 7.71469671e-01 -6.22871782e-01 -1.29866429e-01 3.78237631e+02] [ 6.14531954e-01 7.82322633e-01 -1.01596139e-01 1.20442072e+02] [ 1.64878815e-01 -1.42873056e-03 9.86312798e-01 4.95110408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98864 meters Centerline goodness : 0.989003 with order 1 Centerline is valid? [True, True] Translation: X:378.29, Y:120.47, Z:49.52 [[ 7.67643578e-01 -6.27572045e-01 -1.29910223e-01 3.78291230e+02] [ 6.19308135e-01 7.78554455e-01 -1.01540110e-01 1.20470934e+02] [ 1.64865918e-01 -2.50784470e-03 9.86312800e-01 4.95229406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.0486399999999 meters Centerline goodness : 0.988745 with order 1 Centerline is valid? [True, True] Translation: X:378.33, Y:120.52, Z:49.53 [[ 7.79318776e-01 -6.13012980e-01 -1.29912790e-01 3.78334849e+02] [ 6.04545727e-01 7.90072615e-01 -1.01536827e-01 1.20516284e+02] [ 1.64883930e-01 5.91333447e-04 9.86312800e-01 4.95291699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1086399999999 meters Centerline goodness : 0.981798 with order 1 Centerline is valid? [True, True] Translation: X:378.38, Y:120.56, Z:49.54 [[ 7.81790810e-01 -6.09852192e-01 -1.29936266e-01 3.78381272e+02] [ 6.01346456e-01 7.92514236e-01 -1.01506776e-01 1.20557223e+02] [ 1.64880470e-01 1.22035148e-03 9.86312801e-01 4.95387524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.1686399999999 meters Centerline goodness : 0.980311 with order 1 Centerline is valid? [True, True] Translation: X:378.43, Y:120.60, Z:49.55 [[ 7.83220236e-01 -6.08005760e-01 -1.29980989e-01 3.78426800e+02] [ 5.99484251e-01 7.93931129e-01 -1.01449475e-01 1.20597331e+02] [ 1.64877819e-01 1.53572563e-03 9.86312804e-01 4.95470483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.2286399999999 meters Centerline goodness : 0.394301 with order 1 Centerline is valid? [True, False] Translation: X:378.42, Y:120.60, Z:49.55 [[ 7.88964128e-01 -6.00338836e-01 -1.30877375e-01 3.78420702e+02] [ 5.90087484e-01 7.99679358e-01 -1.10949028e-01 1.20604553e+02] [ 1.71266946e-01 1.03057020e-02 9.85170760e-01 4.95485416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28863999999993 meters Centerline goodness : 0.968372 with order 1 Centerline is valid? [False, True] Translation: X:378.43, Y:120.60, Z:49.55 [[ 7.96192206e-01 -5.88793455e-01 -1.39284737e-01 3.78425048e+02] [ 5.80279892e-01 8.08282346e-01 -9.97742300e-02 1.20600218e+02] [ 1.71327808e-01 -1.38466808e-03 9.85213106e-01 4.95478458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34863999999993 meters Centerline goodness : 0.393585 with order 1 Centerline is valid? [True, False] Translation: X:378.44, Y:120.61, Z:49.56 [[ 8.03669562e-01 -5.76510770e-01 -1.47480739e-01 3.78443673e+02] [ 5.68128692e-01 8.17074456e-01 -9.80771257e-02 1.20613321e+02] [ 1.77045264e-01 -4.96643852e-03 9.84190179e-01 4.95552699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40863999999993 meters Centerline goodness : 0.349199 with order 1 Centerline is valid? [False, False] Translation: X:378.44, Y:120.62, Z:49.56 [[ 8.10603572e-01 -5.69384403e-01 -1.36832932e-01 3.78436230e+02] [ 5.60930732e-01 8.22067578e-01 -9.77834902e-02 1.20618229e+02] [ 1.68162311e-01 2.50984977e-03 9.85756125e-01 4.95565208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46863999999994 meters Centerline goodness : 0.249484 with order 1 Centerline is valid? [False, False] Translation: X:378.44, Y:120.63, Z:49.56 [[ 8.12463706e-01 -5.68785684e-01 -1.28006142e-01 3.78439778e+02] [ 5.59555039e-01 8.22400452e-01 -1.02740720e-01 1.20629389e+02] [ 1.63709759e-01 1.18466242e-02 9.86437414e-01 4.95629010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52863999999994 meters Centerline goodness : 0.298724 with order 1 Centerline is valid? [False, False] Translation: X:378.47, Y:120.63, Z:49.57 [[ 8.15828697e-01 -5.60082227e-01 -1.43984154e-01 3.78466765e+02] [ 5.52163706e-01 8.28431936e-01 -9.38923265e-02 1.20631989e+02] [ 1.71868495e-01 -2.90276962e-03 9.85115625e-01 4.95658590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58863999999994 meters Centerline goodness : 0.355017 with order 1 Centerline is valid? [False, False] Translation: X:378.47, Y:120.62, Z:49.56 [[ 8.22487483e-01 -5.48329828e-01 -1.51157999e-01 3.78471173e+02] [ 5.42445164e-01 8.36128335e-01 -8.15024585e-02 1.20623608e+02] [ 1.71077715e-01 -1.49601736e-02 9.85143953e-01 4.95645155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64863999999994 meters Centerline goodness : 0.332836 with order 1 Centerline is valid? [False, False] Translation: X:378.51, Y:120.65, Z:49.57 [[ 8.27056368e-01 -5.37159322e-01 -1.65643072e-01 3.78509625e+02] [ 5.30648922e-01 8.43300348e-01 -8.51835985e-02 1.20647571e+02] [ 1.85444024e-01 -1.74466799e-02 9.82499938e-01 4.95729964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70863999999995 meters Centerline goodness : 0.373834 with order 1 Centerline is valid? [False, False] Translation: X:378.53, Y:120.66, Z:49.58 [[ 8.31489280e-01 -5.29708156e-01 -1.67436096e-01 3.78529829e+02] [ 5.22716467e-01 8.48045557e-01 -8.70989583e-02 1.20659629e+02] [ 1.88130466e-01 -1.50997547e-02 9.82027966e-01 4.95787474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76863999999995 meters Centerline goodness : 0.273481 with order 1 Centerline is valid? [False, False] Translation: X:378.54, Y:120.66, Z:49.58 [[ 8.33764557e-01 -5.24630442e-01 -1.72045235e-01 3.78538659e+02] [ 5.18314864e-01 8.51105180e-01 -8.34845813e-02 1.20657894e+02] [ 1.90227144e-01 -1.95671178e-02 9.81545089e-01 4.95782281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82863999999995 meters Centerline goodness : 0.154652 with order 1 Centerline is valid? [False, False] Translation: X:378.59, Y:120.67, Z:49.59 [[ 8.34585074e-01 -5.16346931e-01 -1.91972918e-01 3.78586338e+02] [ 5.10575938e-01 8.55878865e-01 -8.23624931e-02 1.20669795e+02] [ 2.06833184e-01 -2.92782453e-02 9.77938044e-01 4.95857109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88863999999995 meters Centerline goodness : 0.142287 with order 1 Centerline is valid? [False, False] Translation: X:378.61, Y:120.68, Z:49.59 [[ 8.41420400e-01 -5.03436920e-01 -1.96374584e-01 3.78613168e+02] [ 4.98444872e-01 8.63423506e-01 -7.77981905e-02 1.20676756e+02] [ 2.08720913e-01 -3.24209197e-02 9.77437704e-01 4.95887960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94863999999995 meters Centerline goodness : 0.175875 with order 1 Centerline is valid? [False, False] Translation: X:378.67, Y:120.69, Z:49.60 [[ 8.43684121e-01 -4.91673871e-01 -2.15531689e-01 3.78671272e+02] [ 4.86606422e-01 8.69969223e-01 -7.97981205e-02 1.20694046e+02] [ 2.26740587e-01 -3.75546969e-02 9.73230883e-01 4.96001782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00863999999996 meters Centerline goodness : 0.214658 with order 3 Centerline is valid? [False, False] Translation: X:378.70, Y:120.69, Z:49.60 [[ 8.51982759e-01 -4.76214881e-01 -2.17588522e-01 3.78696615e+02] [ 4.72937276e-01 8.78280057e-01 -7.03880301e-02 1.20694277e+02] [ 2.24623487e-01 -4.29363348e-02 9.73499235e-01 4.96020711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06863999999996 meters Centerline goodness : 0.136225 with order 1 Centerline is valid? [False, False] Translation: X:378.72, Y:120.69, Z:49.60 [[ 8.58971626e-01 -4.63373241e-01 -2.17837061e-01 3.78720694e+02] [ 4.61350477e-01 8.84960016e-01 -6.32574680e-02 1.20694201e+02] [ 2.22088907e-01 -4.61628617e-02 9.73933010e-01 4.96042116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12863999999996 meters Centerline goodness : 0.110679 with order 1 Centerline is valid? [False, False] Translation: X:378.72, Y:120.69, Z:49.60 [[ 8.69402313e-01 -4.45109669e-01 -2.14515733e-01 3.78722019e+02] [ 4.43583762e-01 8.94356592e-01 -5.79631971e-02 1.20694331e+02] [ 2.17653539e-01 -4.47623583e-02 9.74999112e-01 4.95998960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18863999999996 meters Centerline goodness : 0.130490 with order 1 Centerline is valid? [False, False] Translation: X:378.73, Y:120.69, Z:49.59 [[ 8.78217812e-01 -4.31216898e-01 -2.06846468e-01 3.78729075e+02] [ 4.30510801e-01 9.01153957e-01 -5.08133424e-02 1.20694580e+02] [ 2.08312085e-01 -4.44244562e-02 9.77052989e-01 4.95947735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24863999999997 meters Centerline goodness : 0.130490 with order 1 Centerline is valid? [False, False] Translation: X:378.75, Y:120.70, Z:49.59 [[ 8.84210884e-01 -4.19683148e-01 -2.05029675e-01 3.78750740e+02] [ 4.19787810e-01 9.06497666e-01 -4.51683084e-02 1.20702012e+02] [ 2.04815300e-01 -4.61306485e-02 9.77712972e-01 4.95948059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30863999999997 meters Centerline goodness : 0.117981 with order 1 Centerline is valid? [False, False] Translation: X:378.77, Y:120.71, Z:49.59 [[ 8.89962375e-01 -4.08487570e-01 -2.02743377e-01 3.78772855e+02] [ 4.09441268e-01 9.11494122e-01 -3.91958323e-02 1.20705508e+02] [ 2.00810407e-01 -4.81286895e-02 9.78447142e-01 4.95943188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36863999999997 meters Centerline goodness : 0.134413 with order 1 Centerline is valid? [False, False] Translation: X:378.79, Y:120.72, Z:49.59 [[ 8.95243143e-01 -3.99143514e-01 -1.98050927e-01 3.78793554e+02] [ 4.00450592e-01 9.15641911e-01 -3.52024736e-02 1.20716316e+02] [ 1.95394568e-01 -4.77948379e-02 9.79559399e-01 4.95922835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42864 meters Centerline goodness : 0.131353 with order 1 Centerline is valid? [False, False] Translation: X:378.82, Y:120.73, Z:49.59 [[ 9.00238788e-01 -3.88849900e-01 -1.95872102e-01 3.78817572e+02] [ 3.90407742e-01 9.20077896e-01 -3.22251396e-02 1.20729269e+02] [ 1.92748334e-01 -4.74596645e-02 9.80099822e-01 4.95897794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48864 meters Centerline goodness : 0.129157 with order 1 Centerline is valid? [False, False] Translation: X:378.84, Y:120.74, Z:49.59 [[ 9.04688551e-01 -3.79853279e-01 -1.93002884e-01 3.78836046e+02] [ 3.81410250e-01 9.23902039e-01 -3.05162945e-02 1.20741372e+02] [ 1.89907472e-01 -4.60055358e-02 9.80723530e-01 4.95914622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.5486399999999 meters Centerline goodness : 0.127456 with order 1 Centerline is valid? [False, False] Translation: X:378.86, Y:120.75, Z:49.59 [[ 9.09484981e-01 -3.69605762e-01 -1.90338253e-01 3.78859523e+02] [ 3.71389014e-01 9.28068099e-01 -2.75645411e-02 1.20753467e+02] [ 1.86834874e-01 -4.56200002e-02 9.81331517e-01 4.95895404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6086399999999 meters Centerline goodness : 0.121113 with order 1 Centerline is valid? [False, False] Translation: X:378.89, Y:120.77, Z:49.59 [[ 9.13475788e-01 -3.58491291e-01 -1.92473323e-01 3.78888784e+02] [ 3.60389758e-01 9.32431116e-01 -2.62951571e-02 1.20771543e+02] [ 1.88894700e-01 -4.53454248e-02 9.80949838e-01 4.95868606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.6686399999999 meters Centerline goodness : 0.121744 with order 1 Centerline is valid? [False, False] Translation: X:378.91, Y:120.79, Z:49.58 [[ 9.18429545e-01 -3.47818816e-01 -1.88438961e-01 3.78906092e+02] [ 3.49562898e-01 9.36579293e-01 -2.50001772e-02 1.20785137e+02] [ 1.85183561e-01 -4.29103679e-02 9.81766647e-01 4.95827205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.7286399999999 meters Centerline goodness : 0.118072 with order 1 Centerline is valid? [False, False] Translation: X:378.93, Y:120.80, Z:49.58 [[ 9.22216066e-01 -3.38136152e-01 -1.87567240e-01 3.78929180e+02] [ 3.39827778e-01 9.40179705e-01 -2.40666293e-02 1.20799843e+02] [ 1.84484710e-01 -4.15459262e-02 9.81956887e-01 4.95827595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78863999999993 meters Centerline goodness : 0.138475 with order 1 Centerline is valid? [False, False] Translation: X:378.94, Y:120.81, Z:49.58 [[ 9.26902576e-01 -3.22879617e-01 -1.91312228e-01 3.78937814e+02] [ 3.23825270e-01 9.45726204e-01 -2.71871633e-02 1.20807888e+02] [ 1.89707168e-01 -3.67518822e-02 9.81152633e-01 4.95785210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84863999999993 meters Centerline goodness : 0.078294 with order 1 Centerline is valid? [False, False] Translation: X:378.94, Y:120.81, Z:49.58 [[ 9.31330121e-01 -3.07827981e-01 -1.94592240e-01 3.78944516e+02] [ 3.08141890e-01 9.50885033e-01 -2.94317803e-02 1.20811638e+02] [ 1.94094774e-01 -3.25513170e-02 9.80442569e-01 4.95756621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90863999999993 meters Centerline goodness : 0.078944 with order 1 Centerline is valid? [False, False] Translation: X:378.95, Y:120.81, Z:49.58 [[ 9.35321428e-01 -2.92903041e-01 -1.98448065e-01 3.78949766e+02] [ 2.92422638e-01 9.55740101e-01 -3.24015348e-02 1.20813076e+02] [ 1.99155282e-01 -2.77248569e-02 9.79575677e-01 4.95750029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96863999999994 meters Centerline goodness : 0.079493 with order 1 Centerline is valid? [False, False] Translation: X:378.96, Y:120.81, Z:49.57 [[ 9.39288739e-01 -2.77213686e-01 -2.02210873e-01 3.78958570e+02] [ 2.76224588e-01 9.60502900e-01 -3.36772414e-02 1.20808133e+02] [ 2.03559922e-01 -2.42229616e-02 9.78762794e-01 4.95726103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02863999999994 meters Centerline goodness : 0.077725 with order 1 Centerline is valid? [False, False] Translation: X:378.97, Y:120.80, Z:49.57 [[ 9.43212840e-01 -2.62499024e-01 -2.03577507e-01 3.78967812e+02] [ 2.61070037e-01 9.64708923e-01 -3.43384662e-02 1.20800151e+02] [ 2.05406851e-01 -2.07595051e-02 9.78456472e-01 4.95683829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08863999999994 meters Centerline goodness : 0.074494 with order 1 Centerline is valid? [False, False] Translation: X:378.98, Y:120.80, Z:49.56 [[ 9.46385680e-01 -2.46137467e-01 -2.09213987e-01 3.78983376e+02] [ 2.44093267e-01 9.69085080e-01 -3.59525442e-02 1.20798024e+02] [ 2.11595422e-01 -1.70427527e-02 9.77208740e-01 4.95635427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14863999999994 meters Centerline goodness : 0.073914 with order 1 Centerline is valid? [False, False] Translation: X:379.01, Y:120.81, Z:49.57 [[ 9.49832000e-01 -2.25203655e-01 -2.17031073e-01 3.79007004e+02] [ 2.22040528e-01 9.74249903e-01 -3.91807496e-02 1.20806093e+02] [ 2.20266150e-01 -1.09745643e-02 9.75378071e-01 4.95664485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20863999999995 meters Centerline goodness : 0.074509 with order 1 Centerline is valid? [False, False] Translation: X:379.02, Y:120.81, Z:49.56 [[ 9.52385166e-01 -2.07092233e-01 -2.23775116e-01 3.79023843e+02] [ 2.02903004e-01 9.78305518e-01 -4.18172672e-02 1.20814817e+02] [ 2.27580462e-01 -5.57849824e-03 9.73743300e-01 4.95634320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26863999999995 meters Centerline goodness : 0.073660 with order 1 Centerline is valid? [False, False] Translation: X:379.02, Y:120.82, Z:49.56 [[ 9.56992318e-01 -1.94668798e-01 -2.15104072e-01 3.79020484e+02] [ 1.90068188e-01 9.80868838e-01 -4.20761989e-02 1.20822311e+02] [ 2.19179804e-01 -6.17842146e-04 9.75684289e-01 4.95646116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32863999999995 meters Centerline goodness : 0.074427 with order 1 Centerline is valid? [False, False] Translation: X:379.04, Y:120.83, Z:49.57 [[ 9.59338729e-01 -1.84690752e-01 -2.13444439e-01 3.79037516e+02] [ 1.79854319e-01 9.82794780e-01 -4.20338600e-02 1.20834344e+02] [ 2.17535346e-01 1.93580569e-03 9.76050524e-01 4.95704858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38863999999995 meters Centerline goodness : 0.137347 with order 1 Centerline is valid? [False, False] Translation: X:379.04, Y:120.84, Z:49.57 [[ 9.61312406e-01 -1.68157889e-01 -2.18177412e-01 3.79042294e+02] [ 1.62374170e-01 9.85734028e-01 -4.43063681e-02 1.20844481e+02] [ 2.22515365e-01 7.16588505e-03 9.74902848e-01 4.95703331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44863999999995 meters Centerline goodness : 0.130966 with order 1 Centerline is valid? [False, False] Translation: X:379.04, Y:120.85, Z:49.57 [[ 9.64647769e-01 -1.55987450e-01 -2.12420803e-01 3.79041941e+02] [ 1.49381100e-01 9.87666581e-01 -4.69042873e-02 1.20851320e+02] [ 2.17117409e-01 1.35144628e-02 9.76051940e-01 4.95686795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50863999999996 meters Centerline goodness : 0.074988 with order 1 Centerline is valid? [False, False] Translation: X:379.02, Y:120.85, Z:49.56 [[ 9.66163501e-01 -1.49380926e-01 -2.10269893e-01 3.79024080e+02] [ 1.42481762e-01 9.88648605e-01 -4.76747577e-02 1.20848427e+02] [ 2.15004736e-01 1.61019859e-02 9.76480256e-01 4.95592146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56863999999996 meters Centerline goodness : 0.076523 with order 1 Centerline is valid? [False, False] Translation: X:379.02, Y:120.85, Z:49.56 [[ 9.69857865e-01 -1.37005406e-01 -2.01507421e-01 3.79019611e+02] [ 1.29886790e-01 9.90356634e-01 -4.81991555e-02 1.20850471e+02] [ 2.06167756e-01 2.05731779e-02 9.78300363e-01 4.95606889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62863999999996 meters Centerline goodness : 0.652785 with order 1 Centerline is valid? [False, False] Translation: X:379.01, Y:120.85, Z:49.56 [[ 9.72864300e-01 -1.21942021e-01 -1.96634682e-01 3.79014073e+02] [ 1.14514042e-01 9.92224436e-01 -4.87565566e-02 1.20845171e+02] [ 2.01051210e-01 2.49160811e-02 9.79263805e-01 4.95607374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68863999999996 meters Centerline goodness : 0.077754 with order 1 Centerline is valid? [False, False] Translation: X:379.01, Y:120.84, Z:49.56 [[ 9.75256975e-01 -1.05775266e-01 -1.94127345e-01 3.79013388e+02] [ 9.80236487e-02 9.93970185e-01 -4.91389481e-02 1.20841577e+02] [ 1.98154478e-01 2.88940312e-02 9.79744833e-01 4.95585275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74863999999997 meters Centerline goodness : 0.075936 with order 1 Centerline is valid? [False, False] Translation: X:379.00, Y:120.83, Z:49.55 [[ 9.76166019e-01 -9.58867409e-02 -1.94693699e-01 3.78999283e+02] [ 8.81908459e-02 9.94954159e-01 -4.78392713e-02 1.20834731e+02] [ 1.98298458e-01 2.95288690e-02 9.79696773e-01 4.95475354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80863999999997 meters Centerline goodness : 0.134573 with order 2 Centerline is valid? [False, False] Translation: X:378.99, Y:120.83, Z:49.54 [[ 9.76711248e-01 -8.54111971e-02 -1.96824959e-01 3.78986156e+02] [ 7.78150671e-02 9.95904940e-01 -4.60235421e-02 1.20825126e+02] [ 1.99949875e-01 2.96357638e-02 9.79357835e-01 4.95366607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86863999999997 meters Centerline goodness : 0.074422 with order 1 Centerline is valid? [False, False] Translation: X:378.97, Y:120.82, Z:49.53 [[ 9.77300317e-01 -7.55670531e-02 -1.97923497e-01 3.78972480e+02] [ 6.78690556e-02 9.96660618e-01 -4.54026755e-02 1.20822265e+02] [ 2.00693502e-01 3.09391683e-02 9.79165403e-01 4.95255557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92864 meters Centerline goodness : 0.076890 with order 1 Centerline is valid? [False, False] Translation: X:378.95, Y:120.82, Z:49.52 [[ 9.78351211e-01 -6.27408790e-02 -1.97211787e-01 3.78951872e+02] [ 5.54179217e-02 9.97560878e-01 -4.24399356e-02 1.20823292e+02] [ 1.99393483e-01 3.05920951e-02 9.79441863e-01 4.95174160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98864 meters Centerline goodness : 0.496794 with order 1 Centerline is valid? [False, False] Translation: X:378.94, Y:120.83, Z:49.51 [[ 9.79213208e-01 -5.19015682e-02 -1.96080902e-01 3.78935186e+02] [ 4.47063077e-02 9.98160618e-01 -4.09478656e-02 1.20826614e+02] [ 1.97845492e-01 3.13306378e-02 9.79732388e-01 4.95072486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 4807.72 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%| | 0/14468 [00:00